diff --git "a/json/train/data-00034-of-00160.json" "b/json/train/data-00034-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00034-of-00160.json"
@@ -0,0 +1,3471 @@
+{"uid":"6552880179701314604","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e","video":"8325493846054611445.mp4"}
+{"uid":"10197987042127629437","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: none 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 packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"12040203757090767430.mp4"}
+{"uid":"15802912030266504656","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white blue packet in the left bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white blue packet in the left 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white blue packet in the left bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e","video":"17312648222937820116.mp4"}
+{"uid":"11231269970914876777","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- 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- put packet on the table 5- put packet on packets\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"16065633351609626526.mp4"}
+{"uid":"11493728247821369518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a pen from 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":"6741900601895845439.mp4"}
+{"uid":"1358919244067426546","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:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e","video":"8780638759682133181.mp4"}
+{"uid":"11756527689567777483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4967410164158907827.mp4"}
+{"uid":"14606414739730967700","text":"\u003ctask:success:discrete:False\u003e\nplace packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e","video":"2567600790040576130.mp4"}
+{"uid":"440242068891805695","text":"\u003ctask:success:discrete:False\u003e\nplace packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e","video":"2977668187366846224.mp4"}
+{"uid":"977648254690671182","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the right bowl 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the right bowl\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 right bowl\n\u003c/PRED\u003e","video":"17460117803768154446.mp4"}
+{"uid":"8480971227167937428","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the right bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e","video":"9970726625011236960.mp4"}
+{"uid":"3669944674281746652","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1647169639428997821.mp4"}
+{"uid":"7980158350272794399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11808124719590313990.mp4"}
+{"uid":"17157618883065907599","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask: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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet 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 packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"7013347022536463215.mp4"}
+{"uid":"1583376948943113644","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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- 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":"15713752111103513240.mp4"}
+{"uid":"5518626641548704197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the left side 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":"915535742593550212.mp4"}
+{"uid":"2122107044469478509","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white blue packet in the left bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white blue packet in the left bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white blue packet in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11421442626407289850.mp4"}
+{"uid":"6046829406636332116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the mini steel glass 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":"7755850839867606703.mp4"}
+{"uid":"7323227775139196419","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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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: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: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- 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 packets 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"12845414930593016190.mp4"}
+{"uid":"12468803917073883870","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packets in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: place packets in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the bowl 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packets in the bowl\n\u003c/PRED\u003e","video":"10658338526723212583.mp4"}
+{"uid":"6354974193113896450","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"13069889793539738194.mp4"}
+{"uid":"11078772916380968422","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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 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","video":"4868654292205505571.mp4"}
+{"uid":"472382570220116826","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on packets 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"207759034198420386.mp4"}
+{"uid":"1303446184698189372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10158474905300718733.mp4"}
+{"uid":"16279766737172377196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed 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":"16968953890077764758.mp4"}
+{"uid":"1908326957490688860","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":"8758500215585971866.mp4"}
+{"uid":"6708152264763892422","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":"17962060657207215747.mp4"}
+{"uid":"5551929633673420186","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":"3722841628904662053.mp4"}
+{"uid":"8982863993239167609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10945513269988519629.mp4"}
+{"uid":"18309361222123349757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cup stack 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":"8123318839497491597.mp4"}
+{"uid":"14237099855731732479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange chip bag on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13832045880791587174.mp4"}
+{"uid":"3349284185353260800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolates 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":"15698591406749280704.mp4"}
+{"uid":"10602133209615593231","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black packet in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18413188569939600215.mp4"}
+{"uid":"17192180859832163110","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on packets 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on packets\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on packets\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: put packet on packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on packets\n\u003c/PRED\u003e","video":"17946068780351615878.mp4"}
+{"uid":"11943812766880088498","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in 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: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: place blue chip bag in left bowl and black nd white chip bag in right bowl 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- 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","video":"151579021206171910.mp4"}
+{"uid":"5978234930201504864","text":"\u003ctask:success:discrete:False\u003e\nPut the 2 packets in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the 2 packets in the right bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 2 packets in the right bowl 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the 2 packets in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 2 packets in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 2 packets in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 2 packets in the right bowl\n\u003c/PRED\u003e","video":"12642780209346607203.mp4"}
+{"uid":"9385677684440505614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15112645286689929532.mp4"}
+{"uid":"11023052413865755018","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet 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":"3792027721544898241.mp4"}
+{"uid":"7213115445569906849","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6962232487400056901.mp4"}
+{"uid":"7820475929154527242","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- close the drawer 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"6838769633449475934.mp4"}
+{"uid":"6725275550162922568","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"12371897594145626712.mp4"}
+{"uid":"9438776003327905304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18012526820859341754.mp4"}
+{"uid":"7421447355130646158","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the right bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black packet in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e","video":"15500813138247000691.mp4"}
+{"uid":"8589479291340421233","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet 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: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"986905458164063434.mp4"}
+{"uid":"15796344357498984069","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk 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: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the 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: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2414118343057271066.mp4"}
+{"uid":"5754391644117604683","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- done\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:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"7416235968325846231.mp4"}
+{"uid":"2072095427942884529","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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: I am hungry can you get me a chips from mk kitchen and put it on my desk 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table 5- done\n\u003c/PRED\u003e","video":"119944568015120586.mp4"}
+{"uid":"12710693561476904118","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":"12315871595131014741.mp4"}
+{"uid":"6179350433841431084","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the left bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the left bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the left bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e","video":"11330977552473804936.mp4"}
+{"uid":"5441777520139500531","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":"7005700975042170785.mp4"}
+{"uid":"4574013010680942336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17231256922478372152.mp4"}
+{"uid":"17337611139985319503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the robotic toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13821590052661256632.mp4"}
+{"uid":"14937657802171427473","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet 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":"794015736343773637.mp4"}
+{"uid":"8339539718703040848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"381099371029591725.mp4"}
+{"uid":"3403119791986790616","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 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","video":"13202271576729478602.mp4"}
+{"uid":"14299114019874752193","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":"15489886982526834616.mp4"}
+{"uid":"6184891423418918317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the hanger 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":"1165112585545686015.mp4"}
+{"uid":"10548216836907952243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue book in 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":"17572671861125214704.mp4"}
+{"uid":"16245116752392428270","text":"\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: Take out oatmeal from the rack. last 20 steps: 1- put packet 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- 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 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: Take out oatmeal from the rack 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: Take out oatmeal from the rack. last 20 steps: 1- put packet 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":"3832146282023325915.mp4"}
+{"uid":"6040145328201319812","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e","video":"18061228829599584636.mp4"}
+{"uid":"496646638108836615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11937885079383314242.mp4"}
+{"uid":"9262807963262555787","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- 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- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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: Take out oatmeal from the rack. last 20 steps: 1- 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: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","video":"6981493411157666902.mp4"}
+{"uid":"6101940989742635306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"6253526252862765930.mp4"}
+{"uid":"10201249158140949214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"11500220327683573312.mp4"}
+{"uid":"17049444333912868393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange candy 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":"16572770132664877979.mp4"}
+{"uid":"4669929815397023279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12994601875981227975.mp4"}
+{"uid":"10700798521537288392","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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: Take out oatmeal from the rack. last 20 steps: 1- put packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet 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 packet on the table 3- put 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 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":"16018456128502944849.mp4"}
+{"uid":"14023481628930919270","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put 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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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: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: Take out oatmeal from the rack. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- 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- put packet on packets 5- done\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":"17502911138521120834.mp4"}
+{"uid":"8205889677738649190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7810177226745815010.mp4"}
+{"uid":"4591305417506440164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11181231460804117138.mp4"}
+{"uid":"5634258448756180530","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":"18336997360285084410.mp4"}
+{"uid":"17930553362370827843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nremove 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":"5798006746338560642.mp4"}
+{"uid":"7671881305040700482","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":"11938860014712492391.mp4"}
+{"uid":"6947704463894772563","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in 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: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: place blue chip bag in left bowl and black nd white chip bag in right bowl 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e","video":"9316929050922505273.mp4"}
+{"uid":"11857645817950576865","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":"10883456480191459286.mp4"}
+{"uid":"8094853043565915111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep packet 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":"12334539071373361151.mp4"}
+{"uid":"9086865989664500703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"12087592506967683748.mp4"}
+{"uid":"6397232656115696956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow marker in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2490275766538116855.mp4"}
+{"uid":"3397743679716776195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9572940045476018848.mp4"}
+{"uid":"14909802694236360182","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: place blue chip bag in left bowl and black nd white chip bag in right bowl 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: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: none 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":"1779485097534148028.mp4"}
+{"uid":"3981306884352230034","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1418484485502049559.mp4"}
+{"uid":"723851371830584413","text":"\u003ctask:success:discrete:False\u003e\nPut the black packet in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the right bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip bag in left bowl and black nd white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e","video":"8152939337468654877.mp4"}
+{"uid":"17975229999914247677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5479452231595298316.mp4"}
+{"uid":"5330839511695274703","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper cup from the table 2- move out of the room 3- move towards the bin 4- go close to the bin 5- drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup Q: immediate next step? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e","video":"9571665490076992497.mp4"}
+{"uid":"5932865602080280928","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the coffee cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4471170923640860612.mp4"}
+{"uid":"14909526012671764982","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the left bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the left bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the left bin 2- drop the coffee cup in the bin 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the left bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the left bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the left bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room Q: immediate next step? \u003cPRED\u003eA: move your arm close to the left bin\n\u003c/PRED\u003e","video":"2164349917086959969.mp4"}
+{"uid":"6768934613879472729","text":"\u003ctask:success:discrete:True\u003e\nmove towards the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e","video":"1615615996942241307.mp4"}
+{"uid":"11956692848729151117","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the paper cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13968751260670593519.mp4"}
+{"uid":"13814583131286284074","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper cup in the bin 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin Q: immediate next step? \u003cPRED\u003eA: drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper cup in the bin\n\u003c/PRED\u003e","video":"12999056509939165685.mp4"}
+{"uid":"15030079526262546498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18012925918626489170.mp4"}
+{"uid":"4986420214834380985","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1231124163173851648.mp4"}
+{"uid":"7462912927431632904","text":"\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"16668119194178885566.mp4"}
+{"uid":"12226408704457217932","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":"4255732200541535212.mp4"}
+{"uid":"12207505838503312900","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove close to the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1093199114773199749.mp4"}
+{"uid":"8810383529056477037","text":"\u003ctask:success:discrete:True\u003e\npick the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12707314652436408754.mp4"}
+{"uid":"8504775292555642633","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the bin 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin Q: immediate next step? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e","video":"18324688642308106024.mp4"}
+{"uid":"2699237630829893498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7824861603095492346.mp4"}
+{"uid":"1679100554094869402","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coffee cup in the bin 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the coffee cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coffee cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16024780260309378983.mp4"}
+{"uid":"15852718863159018769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5596236844755774832.mp4"}
+{"uid":"6430565297165387646","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move close to the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the paper cup 2- move out of the room 3- move towards the bin 4- go close to the bin 5- drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move close to the paper cup\n\u003c/PRED\u003e","video":"1745062888199565888.mp4"}
+{"uid":"8979914849629652740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13986439412151823184.mp4"}
+{"uid":"13769400879553210696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16982703417288473453.mp4"}
+{"uid":"6172993009944851306","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the bins\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the bins\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move towards the bins\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: immediate next step? \u003cPRED\u003eA: move towards the bins\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the bins 2- go close to the bin 3- drop the coffee cup in the bin 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the bins Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14626287160689455250.mp4"}
+{"uid":"570375854824384076","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"200375128708066679.mp4"}
+{"uid":"8523292124908379512","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"7985629798101817992.mp4"}
+{"uid":"10479594246942937214","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":"6304716860348267573.mp4"}
+{"uid":"18092961507498473099","text":"\u003ctask:success:discrete:False\u003e\nrelease the paper cup in the left bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin Q: immediate next step? \u003cPRED\u003eA: release the paper cup in the left bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the paper cup in the left bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the paper cup in the left bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- release the paper cup in the left bin 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the paper cup in the left bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: release the paper cup in the left bin\n\u003c/PRED\u003e","video":"146483630378343934.mp4"}
+{"uid":"3629726548022615659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin 6- drop the coffee cup in the bin 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin 6- drop the coffee cup in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e","video":"7279900474413231054.mp4"}
+{"uid":"272545721106487132","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the bin 2- go close to the bin 3- drop the coffee cup in the bin 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e","video":"17785239103343413795.mp4"}
+{"uid":"3486432733357640131","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the bin 2- go close to the bin 3- drop the coffee cup in the bin 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e","video":"4112851205082639096.mp4"}
+{"uid":"14033440805341245758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the measuring tape 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":"11814943067678428905.mp4"}
+{"uid":"12129687213500475393","text":"\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: immediate next step? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- move towards the bin 3- go close to the bin 4- drop the coffee cup in the bin 5- move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- move towards the bin 3- go close to the bin 4- drop the coffee cup in the bin 5- move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove out of 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:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove out of 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move out of the room 2- go close to the bin 3- drop the coffee cup in the bin 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"7068540123192399608.mp4"}
+{"uid":"8777112590549512775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the bins\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the bins Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14914221169852719563.mp4"}
+{"uid":"1962653510688831741","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- lift up the coffee cup 2- move out of the room 3- move towards the bin 4- go close to the bin 5- drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift up the coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: lift up the coffee cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup Q: immediate next step? \u003cPRED\u003eA: lift up the coffee cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift up the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift up the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift up the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"613129996762094188.mp4"}
+{"uid":"4632087476235165074","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the left bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to the left bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11248028014206007842.mp4"}
+{"uid":"8645929545176416278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7920247871065513870.mp4"}
+{"uid":"17724304266473705913","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the coffee cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14103575416742303910.mp4"}
+{"uid":"16126127296803949270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2221683040503291330.mp4"}
+{"uid":"14242179415740569707","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the coffee cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: grab the coffee cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grab the coffee cup 2- move out of the room 3- move towards the bin 4- go close to the bin 5- drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grab the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the coffee cup\n\u003c/PRED\u003e","video":"8565729565459043309.mp4"}
+{"uid":"6425143372798600747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11212737140710612083.mp4"}
+{"uid":"11619215433458962290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sugar packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10174490205019035551.mp4"}
+{"uid":"14054473217859205066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy 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":"15010497396255499453.mp4"}
+{"uid":"15091489830900559603","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":"7549975906840396307.mp4"}
+{"uid":"8397125942310562009","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e","video":"11417508402241836214.mp4"}
+{"uid":"6057054904945374619","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin 6- drop the coffee cup in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\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: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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin 5- go close to the bin 6- drop the coffee cup in the bin Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"15447236115637566291.mp4"}
+{"uid":"15830559483409360901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup Q: immediate next step? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper cup from the table 2- move out of the room 3- move towards the bin 4- go close to the bin 5- drop the coffee cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper cup from the table\n\u003c/PRED\u003e","video":"1876584756611891534.mp4"}
+{"uid":"15489011023349754444","text":"\u003ctask:success:discrete:False\u003e\ngo close to the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go close to the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go close to the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin Q: next 5 steps? \u003cPRED\u003eA: 1- go close to the bin 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. Q: immediate next step? \u003cPRED\u003eA: go close to the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo close to the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the empty cup of tea into the compostables garbage bin. last 20 steps: 1- move your arm close to the paper cup 2- pick the paper cup from the table 3- move out of the room 4- move towards the bin Q: immediate next step? \u003cPRED\u003eA: go close to the bin\n\u003c/PRED\u003e","video":"11972516096255411912.mp4"}
+{"uid":"10442003337482903742","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":"16522623641082453897.mp4"}
+{"uid":"13390198819717562760","text":"\u003ctask:success:discrete:True\u003e\nrelease the paper cup in the left bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the paper cup in the left bin\n\u003c/PRED\u003e","video":"15521818118397400710.mp4"}
+{"uid":"16825990700400145394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace nut in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"14450218585723633370.mp4"}
+{"uid":"13954805512214444012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"3942367607031343282.mp4"}
+{"uid":"1578238080798073825","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10582312875891536359.mp4"}
+{"uid":"18210052149359627498","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7733473928862363564.mp4"}
+{"uid":"17948582834458364279","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper Q: immediate next step? \u003cPRED\u003eA: place tissue paper on packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place tissue paper on packet 2- pick up the tissue paper 3- place the objects on the table 4- place packet on tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace tissue paper on packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissue paper on packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: place tissue paper on packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissue paper on packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissue paper on packet\n\u003c/PRED\u003e","video":"5622120449965120149.mp4"}
+{"uid":"11318344442446360734","text":"\u003ctask:success:discrete:True\u003e\nput brown paper on the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown paper on the packet\n\u003c/PRED\u003e","video":"15859698163882689944.mp4"}
+{"uid":"10694152868001475676","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue paper on the packet 2- pick up the tissue paper 3- place the objects on the table 4- place packet on tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue paper on 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:False\u003e\nput tissue paper on the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the packet\n\u003c/PRED\u003e","video":"15422229832369406494.mp4"}
+{"uid":"5922383694120777708","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the objects on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: place the objects on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper Q: immediate next step? \u003cPRED\u003eA: place the objects on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the objects on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 objects on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the objects 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: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place the objects on the table 2- place packet on tissue paper 3- done\n\u003c/PRED\u003e","video":"8931450340068103099.mp4"}
+{"uid":"5335685123649379531","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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: get a seaweed snack and napkin and bring it to the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- push the drawer 3- pull the tissue paper 4- place tissue paper on packet 5- pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"15040426592187130868.mp4"}
+{"uid":"15326157496841127133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12925449552541282922.mp4"}
+{"uid":"13150613539078981198","text":"\u003ctask:success:discrete:True\u003e\npush 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: push the drawer\n\u003c/PRED\u003e","video":"13873412825958130812.mp4"}
+{"uid":"6141709927804263114","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":"2529360214706256340.mp4"}
+{"uid":"17458439223955904061","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"378093772291466084.mp4"}
+{"uid":"528207122444861700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9214497166353227224.mp4"}
+{"uid":"15666644385498739558","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place tissue paper on packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace tissue paper on packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12946001637590467919.mp4"}
+{"uid":"11636862794894336711","text":"\u003ctask:success:discrete:True\u003e\nopen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e","video":"9220717356288351438.mp4"}
+{"uid":"15254858991648455662","text":"\u003ctask:success:discrete:True\u003e\npick up the objects 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 objects from the table\n\u003c/PRED\u003e","video":"3356312522504897355.mp4"}
+{"uid":"10286077649070827416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2591971794718174794.mp4"}
+{"uid":"12457554089531041353","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pull the tissue paper 3- place tissue paper on packet 4- pick up the tissue paper 5- place the objects on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3251854850827424955.mp4"}
+{"uid":"13401263435977232211","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue paper on the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13453220963276120293.mp4"}
+{"uid":"10065019959991582723","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer Q: immediate next step? \u003cPRED\u003eA: put brown paper on the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown paper on 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:False\u003e\nput brown paper on 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:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: put brown paper on the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown paper on the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown paper on the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown paper on the packet 2- pick up the tissue paper 3- place the objects on the table 4- place packet on tissue paper 5- done\n\u003c/PRED\u003e","video":"11959061844133031121.mp4"}
+{"uid":"9143350628470766826","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"689517140231558155.mp4"}
+{"uid":"4923117572081007749","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":"5737397658244974109.mp4"}
+{"uid":"2621463294225707030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop white packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8816559627145056008.mp4"}
+{"uid":"53855035506712970","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16067639706408129831.mp4"}
+{"uid":"14411817720077320734","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":"9864663859027376586.mp4"}
+{"uid":"1257660713341405165","text":"\u003ctask:success:discrete:False\u003e\nplace the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on table 2- push the drawer 3- pull the tissue paper 4- place tissue paper on packet 5- pick up the tissue paper\n\u003c/PRED\u003e","video":"6633940561851397515.mp4"}
+{"uid":"954501290852153038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the paper cup on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4317742926642943329.mp4"}
+{"uid":"14445037246767861988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8418826634381181852.mp4"}
+{"uid":"7626408269669529738","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer Q: immediate next step? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tissue paper 2- place tissue paper on packet 3- pick up the tissue paper 4- place the objects on the table 5- place packet on tissue paper\n\u003c/PRED\u003e","video":"3541876910501188049.mp4"}
+{"uid":"3200523841488943854","text":"\u003ctask:success:discrete:True\u003e\nplace the objects on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the objects on the table\n\u003c/PRED\u003e","video":"15177993310503911357.mp4"}
+{"uid":"17078805542103697179","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet Q: immediate next step? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue paper 2- place the objects on the table 3- place packet on tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14954035578149282380.mp4"}
+{"uid":"15610867646734657191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10431909243301470691.mp4"}
+{"uid":"2572330716952067209","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: pick up the objects from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the objects 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 objects from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the objects 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: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the objects from the table 2- place the objects on the table 3- place packet on tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the objects from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet Q: immediate next step? \u003cPRED\u003eA: pick up the objects from the table\n\u003c/PRED\u003e","video":"1127520194218647463.mp4"}
+{"uid":"10740517338696872968","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":"6599236842766735452.mp4"}
+{"uid":"12590557043483595779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the left side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5363172841187517486.mp4"}
+{"uid":"7266388899281303491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6454161176886081002.mp4"}
+{"uid":"607979615402571862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"9753396902129995437.mp4"}
+{"uid":"8982400558087354483","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11577880626350436694.mp4"}
+{"uid":"2119161347922641933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13796178751038681055.mp4"}
+{"uid":"10589843217495200923","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- close drawer 2- pull the tissue paper 3- place tissue paper on packet 4- pick up the tissue paper 5- place the objects on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8795364705745397372.mp4"}
+{"uid":"4939441360839568070","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the able\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet on the able Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 packet on the able\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: put the packet on the able\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the able 2- push the drawer 3- pull the tissue paper 4- place tissue paper on packet 5- pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet on the able\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the able Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7585043685080007096.mp4"}
+{"uid":"7030401542269618444","text":"\u003ctask:success:discrete:True\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"13542618674514519946.mp4"}
+{"uid":"14017709939572085657","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper 7- place the objects on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: place packet on tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper 7- place the objects on the table Q: immediate next step? \u003cPRED\u003eA: place packet on tissue paper\n\u003c/PRED\u003e","video":"11913652201066701603.mp4"}
+{"uid":"14309789558132861137","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet\n\u003c/PRED\u003e","video":"457553373067664470.mp4"}
+{"uid":"17209358130283372412","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- pull the tissue paper 3- place tissue paper on packet 4- pick up the tissue paper 5- place the objects on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush 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: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e","video":"2510792338369953106.mp4"}
+{"uid":"1674083483771449096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the regulator in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10100583933589254685.mp4"}
+{"uid":"1674451867181127819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the pen container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3006715487652906407.mp4"}
+{"uid":"15933865556924160269","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet on the able\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet on the able Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8664275654778586172.mp4"}
+{"uid":"5806672610962869834","text":"\u003ctask:success:discrete:True\u003e\nplace tissue paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e","video":"6485669692143211214.mp4"}
+{"uid":"3358773904435165166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabetic tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4438397866448132022.mp4"}
+{"uid":"2705340276410586633","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"4806083457032190010.mp4"}
+{"uid":"12126309023853304672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker 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":"8313420142914112102.mp4"}
+{"uid":"6213835658050831807","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place packet on tissue paper 3- 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper 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: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:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"7004505589593096484.mp4"}
+{"uid":"17858800737423095863","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: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: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- push the drawer 3- pull the tissue paper 4- place tissue paper on packet 5- pick up the tissue paper\n\u003c/PRED\u003e","video":"8279115961550980914.mp4"}
+{"uid":"5078714895086120564","text":"\u003ctask:success:discrete:False\u003e\nplace tissue paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissue paper 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: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper Q: immediate next step? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet 6- pick up the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place tissue paper on table 2- place packet on tissue paper 3- done\n\u003c/PRED\u003e","video":"8702768924258971772.mp4"}
+{"uid":"13397084860796068971","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- place packet on tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a seaweed snack and napkin and bring it to the table. last 20 steps: 1- pull the drawer 2- place the packet on table 3- push the drawer 4- pull the tissue paper 5- place tissue paper on packet Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12038974625605707561.mp4"}
+{"uid":"6453056096527485549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow 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":"7157792485496040837.mp4"}
+{"uid":"6702877534067553651","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder 10- put the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets 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 oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder 10- put the packet in the holder 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 in the holder\n\u003c/PRED\u003e","video":"14348531272969524664.mp4"}
+{"uid":"7516015449677883513","text":"\u003ctask:success:discrete:True\u003e\nput the paper packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e","video":"17894717486165530004.mp4"}
+{"uid":"10897883308024592169","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":"14688062935503911223.mp4"}
+{"uid":"557471647271536228","text":"\u003ctask:success:discrete:False\u003e\nput the paper packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packet in the tray 2- drop the packet in the holder 3- put the packet in the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e","video":"14506563716137256660.mp4"}
+{"uid":"12702192804822969330","text":"\u003ctask:success:discrete:False\u003e\nplace the item in the black 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:discriminative:discrete:True\u003e\nplace the item in the black 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: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- drop the packet in the holder 3- put the packet in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e","video":"16487785778089999930.mp4"}
+{"uid":"11663258260354698099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18133515467454425245.mp4"}
+{"uid":"12095679685726188418","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder 10- put the paper packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets 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 oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder 10- put the paper packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"749789778915405170.mp4"}
+{"uid":"4296221858782016446","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet 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":"2286597021418544136.mp4"}
+{"uid":"10354714196502030802","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet 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: drop the packet in the holder\n\u003c/PRED\u003e","video":"6979099996541299133.mp4"}
+{"uid":"1020470935295703691","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the item 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the item Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e","video":"18373827336970265434.mp4"}
+{"uid":"4272546121366076560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave 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":"2658201817332128129.mp4"}
+{"uid":"227267613600161890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the seaweed snacks packets in the right side of tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"229659692936664439.mp4"}
+{"uid":"1162248137248841422","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packet in the tray 2- put the paper packets in the tray 3- drop the packet in the holder 4- drop the packet in the holder 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e","video":"9839988750252374165.mp4"}
+{"uid":"6798475930335725035","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packet in the tray 2- drop the packet in the holder 3- drop the packet in the holder 4- put the packet in the holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e","video":"17464801719158479753.mp4"}
+{"uid":"11712809722738259812","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the holder 2- drop the packet in the holder 3- drop the packet in the holder 4- put the packet in the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet 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":"14373512667452024734.mp4"}
+{"uid":"5252662014923849972","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":"16002409666984262204.mp4"}
+{"uid":"16933420358893326534","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet 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":"9826782722019654171.mp4"}
+{"uid":"2654196884305531143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red 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":"7615996439080242929.mp4"}
+{"uid":"16752061660568538725","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the item Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 item\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e","video":"6719300753647906894.mp4"}
+{"uid":"7996401358339911816","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- drop the packet in the holder 3- put the packet in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the item in the black 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\nplace the item in the black 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e","video":"9481769152383642310.mp4"}
+{"uid":"11280240201161691210","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":"5101802277141283975.mp4"}
+{"uid":"2365015517430037893","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the items\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the items Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5477882542466723442.mp4"}
+{"uid":"24777469823633693","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the item in the black 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: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the item in the black 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- drop the packet in the holder 3- drop the packet in the holder 4- put the packet in the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e","video":"3021411676700793108.mp4"}
+{"uid":"13769506925330097117","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item Q: immediate next step? \u003cPRED\u003eA: drop the packets in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packets in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packets in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packets in the holder 2- drop the packet in the holder 3- drop the packet in the holder 4- drop the packet in the holder 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packets in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packets 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\ndrop the packets 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":"15087650170067319011.mp4"}
+{"uid":"17516417315387732787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12624033110533337681.mp4"}
+{"uid":"17076813170065794216","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":"7072089182588085707.mp4"}
+{"uid":"10952730991956560678","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet 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\ndrop the packet 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: put oatmeal packets in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the holder 2- pick the item 3- place the item in the black rack 4- put the paper packets in the tray 5- drop the packet in the holder\n\u003c/PRED\u003e","video":"17998060744359394012.mp4"}
+{"uid":"2235753607385966143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the papers from the printer machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14323473006502666965.mp4"}
+{"uid":"7175184820685673747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9839990445973439773.mp4"}
+{"uid":"15670779623833502923","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the holder 2- drop the packet in the holder 3- drop the packet in the holder 4- drop the packet in the holder 5- put the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet 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":"2667962413011941039.mp4"}
+{"uid":"13625536677100462856","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper 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:success:discrete:False\u003e\nput the paper packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packets in the tray 2- drop the packet in the holder 3- put the packet in the holder 4- done\n\u003c/PRED\u003e","video":"16966663256441853155.mp4"}
+{"uid":"1264843684461500569","text":"\u003ctask:success:discrete:False\u003e\nput the packet 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 packet 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: put the packet in the holder\n\u003c/PRED\u003e","video":"18397192869812087741.mp4"}
+{"uid":"10572684755577354815","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packet in the tray 2- put the packet in the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper 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: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e","video":"12207783796749120610.mp4"}
+{"uid":"15354567541565770214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7117955405340341657.mp4"}
+{"uid":"7650920558609942064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the cotton box 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":"17767356112586608389.mp4"}
+{"uid":"13042560005151439542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork on 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":"12299360570482024508.mp4"}
+{"uid":"6029263603017919257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the plastic 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":"9384705825149285137.mp4"}
+{"uid":"79883440730895853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9796007790550469851.mp4"}
+{"uid":"15320012830124997630","text":"\u003ctask:success:discrete:True\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 item\n\u003c/PRED\u003e","video":"9807566685356137140.mp4"}
+{"uid":"16646156635318900487","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":"6675770745753007218.mp4"}
+{"uid":"8773032651052632791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4641261504624300825.mp4"}
+{"uid":"6078957153024498602","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack Q: immediate next step? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packets in the tray 2- drop the packet in the holder 3- drop the packet in the holder 4- drop the packet in the holder 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e","video":"7182374694748133032.mp4"}
+{"uid":"13454345465522096972","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the item in the black 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the item in the black 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: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e","video":"10798438414792238143.mp4"}
+{"uid":"14818542415857036435","text":"\u003ctask:success:discrete:False\u003e\nplace the item in the black 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: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the item in the black 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- pick the item 3- place the item in the black rack 4- put the paper packets in the tray 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e","video":"7473278842825517076.mp4"}
+{"uid":"13387270151621699298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pear into 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":"5144355838747682689.mp4"}
+{"uid":"1208978029275039344","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the item in the black 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the item in the black 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: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e","video":"7232179376527892789.mp4"}
+{"uid":"1615256795063461808","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack Q: next 5 steps? \u003cPRED\u003eA: 1- pick the item 2- place the item in the black rack 3- put the paper packets in the tray 4- drop the packet in the holder 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the item Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e","video":"9030411835044623343.mp4"}
+{"uid":"13134630816590585323","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the holder 2- drop the packet in the holder 3- put the packet in the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e","video":"3124682063694972266.mp4"}
+{"uid":"3583344464292226886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17749365937761557981.mp4"}
+{"uid":"5455865208311381093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange 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":"1904305212992486503.mp4"}
+{"uid":"16051698147804816312","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder 9- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e","video":"9319886401068534637.mp4"}
+{"uid":"2173864784173341298","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the item in the black 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:discriminative:discrete:True\u003e\nplace the item in the black 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- put the paper packets in the tray 3- drop the packet in the holder 4- drop the packet in the holder 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e","video":"1716337817583555290.mp4"}
+{"uid":"6309201766357281212","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":"1140042865679198120.mp4"}
+{"uid":"3616985453232752611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the measuring tape into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18165886259993106697.mp4"}
+{"uid":"10086248816089011648","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the item Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 item\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the item 2- put the packet in the holder 3- done\n\u003c/PRED\u003e","video":"14756360088253832621.mp4"}
+{"uid":"14827579858904164552","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the holder 2- put the paper packets in the tray 3- drop the packet in the holder 4- drop the packet in the holder 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet 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":"8370582297219227122.mp4"}
+{"uid":"565514516148571890","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7931939289950459374.mp4"}
+{"uid":"8734115249544883454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  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":"9173537497373799023.mp4"}
+{"uid":"8988189790446138844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess piece on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18219169470980237414.mp4"}
+{"uid":"17267185988435521003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove forward in the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17594552029670719016.mp4"}
+{"uid":"11616397702997938551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9596141011876218943.mp4"}
+{"uid":"14280497661940956018","text":"\u003ctask:success:discrete:True\u003e\nput the paper packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper packets in the tray\n\u003c/PRED\u003e","video":"823255502196802856.mp4"}
+{"uid":"16290403847920811769","text":"\u003ctask:success:discrete:False\u003e\npick the items Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the items\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: pick the items\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the items\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the items 2- drop the packet in the holder 3- put the packet in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the items Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 items\n\u003c/PRED\u003e","video":"14680716806131228176.mp4"}
+{"uid":"5775521826527258519","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- put the packet in the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the item in the black 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:discriminative:discrete:True\u003e\nplace the item in the black 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","video":"8910249638902828573.mp4"}
+{"uid":"5335339171458313912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet 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":"8966143323819474250.mp4"}
+{"uid":"14799746291135582413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper bag on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16065356767314252754.mp4"}
+{"uid":"10273987267714483220","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packets in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packets 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":"12352668519849810893.mp4"}
+{"uid":"5767322530772430647","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet 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: drop the packet in the holder\n\u003c/PRED\u003e","video":"3298475968776033111.mp4"}
+{"uid":"12565071182336376322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi 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":"4368473723666930002.mp4"}
+{"uid":"6224212571686382931","text":"\u003ctask:success:discrete:True\u003e\nput the paper packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e","video":"10160765235339002863.mp4"}
+{"uid":"10267228698778345531","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18263679049763531664.mp4"}
+{"uid":"8961202337609312862","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the item Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 item\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the item 2- drop the packet in the holder 3- drop the packet in the holder 4- put the packet in the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4880581662206246582.mp4"}
+{"uid":"16203318235907722597","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the items\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the items Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack Q: immediate next step? \u003cPRED\u003eA: pick the items\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack Q: next 5 steps? \u003cPRED\u003eA: 1- pick the items 2- drop the packet in the holder 3- drop the packet in the holder 4- drop the packet in the holder 5- drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the items Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 items\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the items\n\u003c/PRED\u003e","video":"1314637922835511273.mp4"}
+{"uid":"4585007485982217672","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet 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: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray 6- drop the packet in the holder 7- drop the packet in the holder 8- drop the packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the holder 2- put the packet in the holder 3- done\n\u003c/PRED\u003e","video":"9581374915614550610.mp4"}
+{"uid":"5931586581565955132","text":"\u003ctask:success:discrete:True\u003e\npick the items Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 items\n\u003c/PRED\u003e","video":"13718830802555925348.mp4"}
+{"uid":"17370087406001430206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15478496677196559856.mp4"}
+{"uid":"15828825930908729444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the bottom 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":"11108889502618989438.mp4"}
+{"uid":"11074031844105665544","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12638556822324393415.mp4"}
+{"uid":"6007486775322002234","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12764636892764082356.mp4"}
+{"uid":"7393356678498991018","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toy 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":"5205576143435991137.mp4"}
+{"uid":"1299768136105617718","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet 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":"671480247695473366.mp4"}
+{"uid":"9608238930962217857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8688239279279302258.mp4"}
+{"uid":"4593247745550337387","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the item in the black 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: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack Q: next 5 steps? \u003cPRED\u003eA: 1- place the item in the black rack 2- drop the packet in the holder 3- drop the packet in the holder 4- drop the packet in the holder 5- put the packet in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack Q: immediate next step? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the item in the black rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the item in the black 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: place the item in the black rack\n\u003c/PRED\u003e","video":"11139044083531826191.mp4"}
+{"uid":"4636856541135007655","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the item 2- drop the packet in the holder 3- drop the packet in the holder 4- drop the packet in the holder 5- put the packet in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: 1- pick the item 2- place the item in the black rack 3- pick the item 4- place the item in the black rack 5- put the paper packets in the tray Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the item Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 item\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the item Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: pick the item\n\u003c/PRED\u003e","video":"11830102979099478041.mp4"}
+{"uid":"12323187486776678244","text":"\u003ctask:success:discrete:False\u003e\nput the paper packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket Q: immediate next step? \u003cPRED\u003eA: put the paper packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oatmeal packets in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper packet in the tray 2- pick the item 3- place the item in the black rack 4- put the paper packets in the tray 5- drop the packet in the holder\n\u003c/PRED\u003e","video":"10190563812607918836.mp4"}
+{"uid":"7781650884034603802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13968762623430855970.mp4"}
+{"uid":"9575016070443560031","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the can on the table 3- put can on the table 4- Put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can 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: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"7521448271467288747.mp4"}
+{"uid":"14468630885994883797","text":"\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"15844272288358796166.mp4"}
+{"uid":"8484459426852313097","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can 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: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can 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 blue can on table\n\u003c/PRED\u003e","video":"10985969848054656615.mp4"}
+{"uid":"15952734883339041846","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- Put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"1062728278923687906.mp4"}
+{"uid":"5858566447049476458","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6101343528456598547.mp4"}
+{"uid":"2833212260338810344","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- done\n\u003c/PRED\u003e","video":"16446787272745755130.mp4"}
+{"uid":"16822523092837841504","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the can on the table 3- done\n\u003c/PRED\u003e","video":"5610623482552028268.mp4"}
+{"uid":"8042868286742603735","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can 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: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e","video":"1227696097761482633.mp4"}
+{"uid":"11775389487961791577","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":"9599191179363786245.mp4"}
+{"uid":"8945070871692838940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"1385937032104858119.mp4"}
+{"uid":"8622208876754582821","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table 8- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table 8- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"6676952442627664461.mp4"}
+{"uid":"10639264882916915609","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9303134405700872650.mp4"}
+{"uid":"4947224457567181115","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10728394674789098489.mp4"}
+{"uid":"8604611339091335241","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":"446694700817549253.mp4"}
+{"uid":"5290458723916715170","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":"6859161142624535914.mp4"}
+{"uid":"17313510777266486448","text":"\u003ctask:success:discrete:True\u003e\nput blue can 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 blue can on table\n\u003c/PRED\u003e","video":"2011573829743898496.mp4"}
+{"uid":"11175158512653627071","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- Put the can on the table 4- put can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"2690482328238219313.mp4"}
+{"uid":"15566565559652469128","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":"1347170338884811246.mp4"}
+{"uid":"7186931781690978418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"899987445422985155.mp4"}
+{"uid":"12870421159443325824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white  packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6721613042307826730.mp4"}
+{"uid":"3762068380250096974","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"16598152800464804749.mp4"}
+{"uid":"11468194405010574101","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"1219225851809686660.mp4"}
+{"uid":"14016551861578600508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the big 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":"14699590446339660142.mp4"}
+{"uid":"15055769825820327323","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"8756851666945745367.mp4"}
+{"uid":"9738893368965292109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8779345002384828313.mp4"}
+{"uid":"18268504587172791888","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- put can on the table 4- Put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e","video":"14665741310701409989.mp4"}
+{"uid":"8376338038758871725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow 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":"1540521571267004991.mp4"}
+{"uid":"6215921465632236484","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"18407704691933546550.mp4"}
+{"uid":"5762922545531774068","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"17452648067812919299.mp4"}
+{"uid":"1547921603722892936","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- Put the can on the table 4- Put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"11380065143893556265.mp4"}
+{"uid":"13327196416763957204","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- Put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"2133125582385400817.mp4"}
+{"uid":"6137691057448787514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the blue colour 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":"17728591199258184154.mp4"}
+{"uid":"6013972598786156132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8619186168775489120.mp4"}
+{"uid":"7157292204458158827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13080328518362202955.mp4"}
+{"uid":"14793309841415139965","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the can on the table 3- Put the can on the table 4- put can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can 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 blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"5613074326227676783.mp4"}
+{"uid":"3636424653984368160","text":"\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"9587005231967486379.mp4"}
+{"uid":"7695782692022132833","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can 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 blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the can on the table 3- Put the can on the table 4- Put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can 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 blue can on table\n\u003c/PRED\u003e","video":"10531310293454696883.mp4"}
+{"uid":"1889355195718027867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the small object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10618701753630662776.mp4"}
+{"uid":"13003847877580164540","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table 6- Put the can on the table 7- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"15697475227296195698.mp4"}
+{"uid":"17802226017163812631","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the can on the table 3- Put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"12309089863781274466.mp4"}
+{"uid":"1916588637382605157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7990932005369616790.mp4"}
+{"uid":"12075834915399436892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coke 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":"5031337548522770301.mp4"}
+{"uid":"9906633785092653911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a green jalapeno chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3409356523258454604.mp4"}
+{"uid":"3821824978156956648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4433259591412385136.mp4"}
+{"uid":"14152527773576747744","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":"1184438659524020022.mp4"}
+{"uid":"2746854976943797459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the white paper to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8971394244333958220.mp4"}
+{"uid":"9697248124135308944","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put can on the table 3- Put the can on the table 4- Put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"10827271857039736320.mp4"}
+{"uid":"10054435332375189896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16199034089515762613.mp4"}
+{"uid":"473104086524363427","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- put can on the table 4- Put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e","video":"3394785048914744851.mp4"}
+{"uid":"14337111849831275365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky note 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":"16189218930565464129.mp4"}
+{"uid":"14248659785702129214","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 a white packet in jar\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 the 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 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 Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place the packet in jar 5- place the blue pen in the pen holder\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 the packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place the packet in jar 5- place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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 the packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e","video":"11035011521094854779.mp4"}
+{"uid":"10575207939887982165","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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the pen holder 2- place the black  pen in the pen holder 3- place the orange pen in the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask: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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 the blue pen in the pen holder\n\u003c/PRED\u003e","video":"724963710268487419.mp4"}
+{"uid":"11062467568440920102","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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 the 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 the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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: none Q: immediate next step? \u003cPRED\u003eA: place the 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 the packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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":"10150381854266253127.mp4"}
+{"uid":"9912243488831251000","text":"\u003ctask:success:discrete:True\u003e\nPut Blue pen inside 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 Blue pen inside the pen holder\n\u003c/PRED\u003e","video":"715907665553031386.mp4"}
+{"uid":"18245034054600794197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue 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\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sweetfish bag into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6743105367151514555.mp4"}
+{"uid":"11491988890073698819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\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","video":"8921967055810265990.mp4"}
+{"uid":"15815467443299716863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder to your left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2284027490177621163.mp4"}
+{"uid":"18144400830437492460","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut White packet inside 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":"17940260204312549277.mp4"}
+{"uid":"15386068552335823781","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":"2869864016064826718.mp4"}
+{"uid":"9328327558703297521","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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder 9- Put Orange pen inside the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder 9- Put Orange pen inside the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut Orange pen inside 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: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: Put Orange pen inside the pen holder\n\u003c/PRED\u003e","video":"17524180898169111430.mp4"}
+{"uid":"13364823573411097966","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9828777005689930413.mp4"}
+{"uid":"1282285224085706642","text":"\u003ctask:success:discrete:True\u003e\nplace the black  pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black  pen in the pen holder\n\u003c/PRED\u003e","video":"8065033023008872607.mp4"}
+{"uid":"13741834266580805588","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":"17316762543315773957.mp4"}
+{"uid":"11072955304339411361","text":"\u003ctask:success:discrete:True\u003e\nplace the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e","video":"11902510175649474213.mp4"}
+{"uid":"647818221217629853","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut White packet inside 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put White packet inside 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 Q: next 5 steps? \u003cPRED\u003eA: 1- Put White packet inside the jar 2- place a white packet in jar 3- place a white packet in jar 4- place the packet in jar 5- place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put White packet inside 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 White packet inside 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 Q: immediate next step? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e","video":"8315482619447447458.mp4"}
+{"uid":"6801586718290742334","text":"\u003ctask:success:discrete:False\u003e\nplace the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\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 the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask: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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the pen holder 2- place the black  pen in the pen holder 3- place the orange pen in the pen holder 4- done\n\u003c/PRED\u003e","video":"1434520894380423994.mp4"}
+{"uid":"18328779894499426681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClean the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3737233054356564002.mp4"}
+{"uid":"16583065607568604973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11366837473314556160.mp4"}
+{"uid":"5098968754532607870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chips 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":"3259455394203723254.mp4"}
+{"uid":"9587368962078072743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1880565680617666812.mp4"}
+{"uid":"7508587497287001261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13338317606408252500.mp4"}
+{"uid":"732640599985633800","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Orange pen inside the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put Orange pen inside the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Orange pen inside the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut Orange pen inside 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: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Put Orange pen inside the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Orange pen inside the pen holder\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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put Orange pen inside the pen holder\n\u003c/PRED\u003e","video":"7630495221569406247.mp4"}
+{"uid":"5381063665774688562","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 Blue pen inside the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Blue pen inside the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Blue pen inside the pen holder\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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put Blue pen inside the pen holder\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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put Blue pen inside the pen holder 2- place the black  pen in the pen holder 3- place the orange pen in the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Blue pen inside 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":"8305915918712317834.mp4"}
+{"uid":"1313928837373852502","text":"\u003ctask:success:discrete:True\u003e\nPut White packet inside 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 White packet inside the jar\n\u003c/PRED\u003e","video":"2147267327639416832.mp4"}
+{"uid":"7568895921739536385","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"12134000228103343527.mp4"}
+{"uid":"77052383729705272","text":"\u003ctask:success:discrete:False\u003e\nPut Blue pen inside 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 Blue pen inside the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put Blue pen inside the pen holder 2- place the blue pen in the pen holder 3- place the black  pen in the pen holder 4- place the orange pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Blue pen inside the pen holder\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 Blue pen inside the pen holder\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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar Q: immediate next step? \u003cPRED\u003eA: Put Blue pen inside the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Blue pen inside the pen holder\n\u003c/PRED\u003e","video":"11706302854824793721.mp4"}
+{"uid":"15638147848824775727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14617397622932839835.mp4"}
+{"uid":"9369439169575739032","text":"\u003ctask:success:discrete:True\u003e\nPut Blue pen inside 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 Blue pen inside the pen holder\n\u003c/PRED\u003e","video":"4863018880237940181.mp4"}
+{"uid":"16332951990157480821","text":"\u003ctask:success:discrete:True\u003e\nplace the 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 the packet in jar\n\u003c/PRED\u003e","video":"15396707084198103885.mp4"}
+{"uid":"9572907160917676863","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\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","video":"11145811069581357234.mp4"}
+{"uid":"15841121913048016450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift the unreal 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":"1278545326615498208.mp4"}
+{"uid":"5565598773711380786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into 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":"17169112394877728455.mp4"}
+{"uid":"10356621443212253470","text":"\u003ctask:success:discrete:True\u003e\nplace the 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 the packet in jar\n\u003c/PRED\u003e","video":"3191875947520981621.mp4"}
+{"uid":"15354757777681927142","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 a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- place a white packet in jar 3- place the packet in jar 4- place the blue pen in the pen holder 5- place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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 the 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 the 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 a white packet in jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e","video":"12222494354858977278.mp4"}
+{"uid":"2071960690561876168","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":"18096105296147328900.mp4"}
+{"uid":"17278461557130900427","text":"\u003ctask:success:discrete:True\u003e\nPut Black pen inside 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 Black pen inside the pen holder\n\u003c/PRED\u003e","video":"14709091973564936299.mp4"}
+{"uid":"12214759836627929557","text":"\u003ctask:success:discrete:True\u003e\nplace the 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 the packet in jar\n\u003c/PRED\u003e","video":"5241386646301145747.mp4"}
+{"uid":"9450592098100526606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the 8th marker 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":"1175008035766516656.mp4"}
+{"uid":"11419950004761501810","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 the 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 a white packet in jar 3- place a white packet in jar Q: immediate next step? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the 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 a white packet in jar 3- place a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- place the packet in jar 3- place the blue pen in the pen holder 4- place the blue pen in the pen holder 5- place the black  pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"14964415539440861070.mp4"}
+{"uid":"15287082957417307900","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put blue packet inside the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut blue packet inside 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":"10595402357621178319.mp4"}
+{"uid":"8149662583127672590","text":"\u003ctask:success:discrete:True\u003e\nplace the 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 the packet in jar\n\u003c/PRED\u003e","video":"14537423044993873104.mp4"}
+{"uid":"8284029237322596238","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut White packet inside 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":"4747377114541860637.mp4"}
+{"uid":"256608441507392390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"1475407737602689989.mp4"}
+{"uid":"241699637512699606","text":"\u003ctask:success:discrete:True\u003e\nplace the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e","video":"13960063684795766613.mp4"}
+{"uid":"7680668809001220965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"6871263126328556376.mp4"}
+{"uid":"1897255764140291065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3129999719999373496.mp4"}
+{"uid":"13195720142435152745","text":"\u003ctask:success:discrete:False\u003e\nPut Black pen inside 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put Black pen inside the pen holder 2- place the orange pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut Black pen inside the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put Black pen inside the pen holder\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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put Black pen inside the pen holder\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 Black pen inside the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put Black pen inside the pen holder\n\u003c/PRED\u003e","video":"11021800845156151727.mp4"}
+{"uid":"5072616199135569182","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black  pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black  pen in the pen holder\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 the black  pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black  pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black  pen in the pen holder\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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the black  pen in the pen holder 2- place the orange pen in the pen holder 3- 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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the black  pen in the pen holder\n\u003c/PRED\u003e","video":"977433688693868680.mp4"}
+{"uid":"4710182433211623411","text":"\u003ctask:success:discrete:False\u003e\nPut White packet inside 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: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 White packet inside 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 White packet inside 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 White packet inside the jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut White packet inside 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":"13205877521718387773.mp4"}
+{"uid":"6723866188298040336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut White packet inside 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":"12258901858276786047.mp4"}
+{"uid":"7311066515777537924","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\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","video":"13959772732349042709.mp4"}
+{"uid":"18015899052470748769","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: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange pen in the pen holder\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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder 9- place the orange pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange 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: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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder 9- place the orange pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11024258957976927700.mp4"}
+{"uid":"3976396747517544560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11340057588461889255.mp4"}
+{"uid":"18398503083702639176","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 blue packet inside the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut blue packet inside 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 blue packet inside the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue packet inside 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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue packet inside the jar 2- place the blue pen in the pen holder 3- place the blue pen in the pen holder 4- place the black  pen in the pen holder 5- place the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue packet inside 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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar Q: immediate next step? \u003cPRED\u003eA: Put blue packet inside the jar\n\u003c/PRED\u003e","video":"12150939312530921573.mp4"}
+{"uid":"3739366666261553418","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 a white packet in jar 3- place a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in jar 2- place the packet in jar 3- place the blue pen in the pen holder 4- place the blue pen in the pen holder 5- place the black  pen in the pen holder\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: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: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: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 a white packet in jar 3- place a white packet in jar Q: immediate next step? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e","video":"10186716201091857026.mp4"}
+{"uid":"8759198284143897424","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put White packet inside 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 a white packet in jar 3- place a white packet in jar Q: immediate next step? \u003cPRED\u003eA: Put White packet inside 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 White packet inside 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 a white packet in jar 3- place a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put White packet inside the jar 2- place the blue pen in the pen holder 3- place the blue pen in the pen holder 4- place the black  pen in the pen holder 5- place the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut White packet inside 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":"6837053896399914955.mp4"}
+{"uid":"16248303842873083601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17201169875329346655.mp4"}
+{"uid":"12257045791494340008","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white packet in jar 2- place a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange pen in the pen holder 2- 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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar 5- place the packet in jar 6- place the blue pen in the pen holder 7- place the blue pen in the pen holder 8- place the black  pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the orange pen in the pen holder\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 the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange 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: place the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange pen in the pen holder\n\u003c/PRED\u003e","video":"17545777335666180801.mp4"}
+{"uid":"3955657451006118077","text":"\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: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 a white 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: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 a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in jar 2- place a white packet in jar 3- place the packet in jar 4- place the blue pen in the pen holder 5- place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in jar\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","video":"17193814378220987810.mp4"}
+{"uid":"17748397546701422108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios 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":"12937400689785582848.mp4"}
+{"uid":"3049812744375348021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10073147259874824035.mp4"}
+{"uid":"16091062564029846188","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut White packet inside 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put White packet inside 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 White packet inside 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 a white packet in jar Q: immediate next step? \u003cPRED\u003eA: Put White packet inside the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put White packet inside 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 a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put White packet inside the jar 2- place a white packet in jar 3- place the packet in jar 4- place the blue pen in the pen holder 5- place the blue pen in the pen holder\n\u003c/PRED\u003e","video":"5852170659104027859.mp4"}
+{"uid":"4884095809424268727","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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in jar 2- place the blue pen in the pen holder 3- place the blue pen in the pen holder 4- place the black  pen in the pen holder 5- place the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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 a white packet in jar 3- place a white packet in jar 4- place a white packet in jar Q: immediate next step? \u003cPRED\u003eA: place the 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 the packet in jar\n\u003c/PRED\u003e","video":"17621260633728801603.mp4"}
+{"uid":"2818921813103576405","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Place the orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2219197543612280128.mp4"}
+{"uid":"5501928919272692850","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put brown packet in the paper  bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut brown packet in the paper  bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4509500599917303548.mp4"}
+{"uid":"4471889502503626756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2649057648023848823.mp4"}
+{"uid":"3919584975591071230","text":"\u003ctask:success:discrete:True\u003e\nPlace the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e","video":"5058366877802742409.mp4"}
+{"uid":"7648134892217692276","text":"\u003ctask:success:discrete:True\u003e\nput tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e","video":"13235092855959145488.mp4"}
+{"uid":"8990299037155558251","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue paper on the table 2- Put plastic spoon on the tissue paper 3- Put orange on the table 4- done\n\u003c/PRED\u003e","video":"7636455721955551363.mp4"}
+{"uid":"15967368223048729089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the light orange 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":"4411705075277923467.mp4"}
+{"uid":"12673225320910411136","text":"\u003ctask:success:discrete:False\u003e\nPut brown packet in the paper  bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown packet in the paper  bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown packet in the paper  bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the paper  bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the paper  bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Put orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown packet in the paper  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"434775411974855910.mp4"}
+{"uid":"7576248660783645968","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table. last 20 steps: 1- clean the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table. last 20 steps: 1- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3646631582395826949.mp4"}
+{"uid":"16467645325371057440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2308613770825934994.mp4"}
+{"uid":"1935922222785633697","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown packet inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown packet inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1797127239987505114.mp4"}
+{"uid":"6415015843198637563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cereals 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":"16746528745982274372.mp4"}
+{"uid":"8127985080815579025","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut plastic spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic spoon on the tissue paper 2- Put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: Put plastic spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put plastic spoon on the tissue paper\n\u003c/PRED\u003e","video":"2351010584681290104.mp4"}
+{"uid":"6411450146011726332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in a right 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":"14057107807978591411.mp4"}
+{"uid":"14758020562617555644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas 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":"16638363926625189870.mp4"}
+{"uid":"12656502659453747025","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper Q: immediate next step? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e","video":"12273781191714800724.mp4"}
+{"uid":"10210651215268659876","text":"\u003ctask:success:discrete:True\u003e\nPut the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Put the orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange on the table\n\u003c/PRED\u003e","video":"12205445837975811073.mp4"}
+{"uid":"3808061810991592074","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet inside the cup 2- Put plastic spoon on the tissue paper 3- Put orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown packet inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10427060587549560936.mp4"}
+{"uid":"10124713278239063300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue can in the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7712206673967540500.mp4"}
+{"uid":"15415013155509067170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1243473070705836239.mp4"}
+{"uid":"3680993863861981769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bean 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":"576738352784429703.mp4"}
+{"uid":"8268858388663223196","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the oat meal packet in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the oat meal packet in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the oat meal packet in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the oat meal packet in the paper bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Put orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the oat meal packet in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put the oat meal packet in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the oat meal packet in the paper bowl\n\u003c/PRED\u003e","video":"4708899979759446445.mp4"}
+{"uid":"7412786676754746147","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Put orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper 4- Put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15229922506568090614.mp4"}
+{"uid":"10216376116690220307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink sugar packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5543638777785676526.mp4"}
+{"uid":"1799275629938007056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper Q: immediate next step? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange on the table\n\u003c/PRED\u003e","video":"15921651765973135839.mp4"}
+{"uid":"13697730903616214658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tiles 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":"10172747538145718357.mp4"}
+{"uid":"2823098860367788566","text":"\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table 3- Put plastic spoon on the tissue paper Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"14855405403664512907.mp4"}
+{"uid":"8188844217983154653","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon on the tissue paper 2- Put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8210946301850810512.mp4"}
+{"uid":"13987767808442087115","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue paper on the table 2- Put plastic spoon on the tissue paper 3- Put orange on the table 4- done\n\u003c/PRED\u003e","video":"14634441511624757089.mp4"}
+{"uid":"4057452819631646905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"75864254549169275.mp4"}
+{"uid":"6189803457105793591","text":"\u003ctask:success:discrete:False\u003e\nPut the spoon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoon on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put the spoon on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl 2- put tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon on the table 2- Put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon on the table\n\u003c/PRED\u003e","video":"8211864083370436898.mp4"}
+{"uid":"6234427150262849101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sanitizer bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6486353338896525453.mp4"}
+{"uid":"5241237677793458867","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Put brown packet in the paper  bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue paper on the table 2- Put plastic spoon on the tissue paper 3- Put orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7499144834805162003.mp4"}
+{"uid":"11649426340286841472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the circle object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10788142181004000754.mp4"}
+{"uid":"9680882383998633070","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the counter\n\u003c/PRED\u003e","video":"9403234794821742560.mp4"}
+{"uid":"12385005570281076867","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- place the packet in the counter 3- pick the brown packet 4- put the brown packet in the counter 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"18136282053333336229.mp4"}
+{"uid":"1927009259416448971","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet Q: next 5 steps? \u003cPRED\u003eA: 1- put a bag on the table 2- pick the banana 3- place the  banana on the table 4- pick the blue packet 5- place the packet in the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet Q: immediate next step? \u003cPRED\u003eA: put a bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: put a bag on the table\n\u003c/PRED\u003e","video":"12507263838212152661.mp4"}
+{"uid":"11938136682165776680","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue 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":"12768185504227185941.mp4"}
+{"uid":"11057846695373860007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11989160241129488212.mp4"}
+{"uid":"9876843678771711368","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana Q: immediate next step? \u003cPRED\u003eA: place the banana in the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: place the banana in the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the counter 2- pick the blue packet 3- place the packet in the counter 4- pick the brown packet 5- put the brown packet in the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1273595345036327478.mp4"}
+{"uid":"3206476028934452736","text":"\u003ctask:success:discrete:True\u003e\nput the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet 8- put the packet 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 packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet 8- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12306100826113016804.mp4"}
+{"uid":"6842623244552899884","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":"5838012668473428054.mp4"}
+{"uid":"11849679179871413582","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e","video":"7830587149122415526.mp4"}
+{"uid":"6222814366428965143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1111091680034246417.mp4"}
+{"uid":"4050108262371180341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6571554211894311155.mp4"}
+{"uid":"1232497692287365910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"369793477965237901.mp4"}
+{"uid":"5044540160613134045","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"118541583905638216.mp4"}
+{"uid":"1042365402851234261","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet on the table 2- pick the brown packet 3- put the brown packet in the counter 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet Q: immediate next step? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e","video":"5774966902110943124.mp4"}
+{"uid":"1504140789606704229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18334949006346485688.mp4"}
+{"uid":"13485486110133380693","text":"\u003ctask:success:discrete:True\u003e\npick the blue packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue packet\n\u003c/PRED\u003e","video":"8435810948747364241.mp4"}
+{"uid":"14945406702658870117","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- done\n\u003c/PRED\u003e","video":"2926440452872021540.mp4"}
+{"uid":"2062038982545078992","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14162232934552477020.mp4"}
+{"uid":"1522573204192752563","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: place the  banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- place the  banana on the table 2- pick the blue packet 3- place the packet in the counter 4- pick the brown packet 5- put the brown packet in the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the  banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana Q: immediate next step? \u003cPRED\u003eA: place the  banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  banana on the table\n\u003c/PRED\u003e","video":"10865702734020180381.mp4"}
+{"uid":"13290689399654350202","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter Q: immediate next step? \u003cPRED\u003eA: pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet 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 packet 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 packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet from the table 2- put the brown packet in the counter 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick up the packet from the table\n\u003c/PRED\u003e","video":"14187263893872331613.mp4"}
+{"uid":"663569948123008488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in 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":"16711174882281732217.mp4"}
+{"uid":"17723548486611878467","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bag from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the bag 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":"11872965082852226090.mp4"}
+{"uid":"394380077689463965","text":"\u003ctask:success:discrete:True\u003e\nput the green packet on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet on the counter\n\u003c/PRED\u003e","video":"2814277147067149643.mp4"}
+{"uid":"10911462239949089636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1788305553436605164.mp4"}
+{"uid":"77361680787283680","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4970716194306365267.mp4"}
+{"uid":"17254865028960899253","text":"\u003ctask:success:discrete:False\u003e\npick the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table Q: immediate next step? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the banana 2- place the  banana on the table 3- pick the blue packet 4- place the packet in the counter 5- pick the brown packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e","video":"1231457062898407224.mp4"}
+{"uid":"235345510137852807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the banana from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the banana 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":"13894047921853079203.mp4"}
+{"uid":"3429229464765193802","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table Q: immediate next step? \u003cPRED\u003eA: pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet 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 packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet 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 retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet from the table 2- place the packet in the counter 3- pick the brown packet 4- put the brown packet in the counter 5- done\n\u003c/PRED\u003e","video":"11841815696603320535.mp4"}
+{"uid":"17379295511989698511","text":"\u003ctask:success:discrete:True\u003e\npick the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e","video":"1581634663954625549.mp4"}
+{"uid":"6340592158300841430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"17423138774255084179.mp4"}
+{"uid":"12287423363812216372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14827649953784979156.mp4"}
+{"uid":"15824675858183590880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8211547415248373669.mp4"}
+{"uid":"17025121596563924881","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3566861489383044151.mp4"}
+{"uid":"13078496916700374169","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip on 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":"11987642111887730304.mp4"}
+{"uid":"10483883351247797375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic forks in forks 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":"2489317439681539668.mp4"}
+{"uid":"6944107022758551080","text":"\u003ctask:success:discrete:True\u003e\nplace the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green packet on the table\n\u003c/PRED\u003e","video":"11713432596230767051.mp4"}
+{"uid":"6004781964354689276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10026784027588385225.mp4"}
+{"uid":"14294333850575088472","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: place the packet in the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the counter 2- pick the brown packet 3- put the brown packet in the counter 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet Q: immediate next step? \u003cPRED\u003eA: place the packet in the counter\n\u003c/PRED\u003e","video":"2993035166902542461.mp4"}
+{"uid":"6933524764598881729","text":"\u003ctask:success:discrete:False\u003e\npick up the banana 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 banana 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 retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table Q: immediate next step? \u003cPRED\u003eA: pick up the banana 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 banana from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the banana from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana from the table 2- place the  banana on the table 3- pick the blue packet 4- place the packet in the counter 5- pick the brown packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the table\n\u003c/PRED\u003e","video":"10216016244295629129.mp4"}
+{"uid":"6097248379964173169","text":"\u003ctask:success:discrete:True\u003e\npick up the packet 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 packet from the table\n\u003c/PRED\u003e","video":"97653680811029556.mp4"}
+{"uid":"12583988498361442102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1498603147961972109.mp4"}
+{"uid":"8436699856728974089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11723376302242087209.mp4"}
+{"uid":"9242825703711544154","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet Q: immediate next step? \u003cPRED\u003eA: place the green packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the green packet on the table 2- pick the banana 3- place the  banana on the table 4- pick the blue packet 5- place the packet in the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green 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 green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green 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 green packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: place the green packet on the table\n\u003c/PRED\u003e","video":"16432030285396468206.mp4"}
+{"uid":"1479038668662558975","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet 8- place the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet 8- place the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17761994257872191001.mp4"}
+{"uid":"7600469203181963746","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: put a banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana Q: immediate next step? \u003cPRED\u003eA: put a banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- put a banana on the table 2- pick the blue packet 3- place the packet in the counter 4- pick the brown packet 5- put the brown packet in the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a banana on the table\n\u003c/PRED\u003e","video":"1058613551873130780.mp4"}
+{"uid":"16677543189154247271","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the banana 2- place the  banana on the table 3- pick the blue packet 4- place the packet in the counter 5- pick the brown packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table Q: immediate next step? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e","video":"3331901677376521306.mp4"}
+{"uid":"6397381829047700649","text":"\u003ctask:success:discrete:True\u003e\nplace the  banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the  banana on the table\n\u003c/PRED\u003e","video":"14985676323905755097.mp4"}
+{"uid":"9735201545361343524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"5910816858166816637.mp4"}
+{"uid":"15575218287996602658","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: put the packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 packet in the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet Q: immediate next step? \u003cPRED\u003eA: put the packet in the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the table 2- pick the brown packet 3- put the brown packet in the counter 4- done\n\u003c/PRED\u003e","video":"9863636897329578356.mp4"}
+{"uid":"12371890819099857012","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table Q: immediate next step? \u003cPRED\u003eA: pick the blue packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue packet 2- place the packet in the counter 3- pick the brown packet 4- put the brown packet in the counter 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick the blue packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue packet\n\u003c/PRED\u003e","video":"11165511666450346017.mp4"}
+{"uid":"1090917670634539069","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":"4448336567020376922.mp4"}
+{"uid":"10945266399919839242","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown 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: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown packet 2- put the brown packet in the counter 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e","video":"16453482960055252868.mp4"}
+{"uid":"6512457776095385636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on 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":"5716974546932217014.mp4"}
+{"uid":"3825859839411175956","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the counter 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet in the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the counter\n\u003c/PRED\u003e","video":"11810918851301779718.mp4"}
+{"uid":"12245370966281597940","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana in the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14250857445893220559.mp4"}
+{"uid":"15319880926389170972","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown packet 2- put the brown packet in the counter 3- done\n\u003c/PRED\u003e","video":"1415884709134871049.mp4"}
+{"uid":"4505919225209962778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the brown box in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3632873450122719719.mp4"}
+{"uid":"17721745713241042230","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet 8- put the brown packet in the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet 8- put the brown packet in the counter Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5375240672443156660.mp4"}
+{"uid":"2549642325591428119","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bag from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick up the bag from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bag from the table 2- pick the banana 3- place the  banana on the table 4- pick the blue packet 5- place the packet in the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bag from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bag from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bag from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bag from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2279979001031079810.mp4"}
+{"uid":"9479528841484080127","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green 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:False\u003e\npick the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11575196630278667900.mp4"}
+{"uid":"15520867246971179063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13872275010542186240.mp4"}
+{"uid":"114814475877713894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14372376546609834014.mp4"}
+{"uid":"8428580027150983535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the paper 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":"10884446022670543673.mp4"}
+{"uid":"8542302176903227877","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the packet 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":"1726914772445045705.mp4"}
+{"uid":"8203193143667790989","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: put the green packet on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet on the counter 2- pick the banana 3- place the  banana on the table 4- pick the blue packet 5- place the packet in the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet Q: immediate next step? \u003cPRED\u003eA: put the green packet on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet on the counter\n\u003c/PRED\u003e","video":"17517852559991737367.mp4"}
+{"uid":"934986657992016586","text":"\u003ctask:success:discrete:True\u003e\npick up the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brown packet\n\u003c/PRED\u003e","video":"11805977621215346656.mp4"}
+{"uid":"2997151831302642164","text":"\u003ctask:success:discrete:True\u003e\nput a bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a bag on the table\n\u003c/PRED\u003e","video":"10026123656576135362.mp4"}
+{"uid":"17355560308508833207","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter Q: immediate next step? \u003cPRED\u003eA: place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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 retrieve the snacks from the tables in mk and place them on the counter. last 20 steps: 1- pick the green packet 2- place the green packet on the table 3- pick the banana 4- place the  banana on the table 5- pick the blue packet 6- place the packet in the counter 7- pick the brown packet Q: immediate next step? \u003cPRED\u003eA: place the brown packet on the table\n\u003c/PRED\u003e","video":"11803286183542642327.mp4"}
+{"uid":"7872331913714493235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  lid on top of 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":"10743216717784141222.mp4"}
+{"uid":"9356867426777682631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"12431693911143764769.mp4"}
+{"uid":"204522179145241202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the tray towards wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7429986854329590734.mp4"}
+{"uid":"14604863694724609873","text":"\u003ctask:success:discrete:False\u003e\nput candy in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the small bowl 2- place candy in the bowl 3- place candies in the bowl 4- put candy in the small bowl 5- put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e","video":"9444621485890681301.mp4"}
+{"uid":"9627626883953542277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"4930019523089311181.mp4"}
+{"uid":"17964861652349400937","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":"8067104153990604943.mp4"}
+{"uid":"484903841480869001","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the bowl 2- put candy in the small bowl 3- place candy in the bowl 4- Put the green candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e","video":"15298903272230200779.mp4"}
+{"uid":"2095174520385777251","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink candy in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put pink candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink candy in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pink candy in the small bowl 2- Put the yellow candy in the bowl 3- put yellow candy in the small bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put pink candy in the small bowl\n\u003c/PRED\u003e","video":"16157056449907319410.mp4"}
+{"uid":"7357604235671615497","text":"\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:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"7026815082742104324.mp4"}
+{"uid":"17545962778893679642","text":"\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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\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: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: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"10867224094111146592.mp4"}
+{"uid":"3153616643052224457","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:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask: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: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 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","video":"15725323676754087287.mp4"}
+{"uid":"8394181345855057372","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl 13- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl 13- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8483606680795162045.mp4"}
+{"uid":"4669114686967797493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the 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":"883202142000583425.mp4"}
+{"uid":"9266410862595537530","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- place candy in the bowl 3- Put the green candy in the bowl 4- Put the yellow candy in the bowl 5- put pink candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e","video":"10769192976921641899.mp4"}
+{"uid":"14405870898432633650","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put white packet in the big bowl 3- put candy in the small bowl 4- place candy in the bowl 5- place candies in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e","video":"2048313377847716903.mp4"}
+{"uid":"3930479767897147416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the left cupboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14402882847041425249.mp4"}
+{"uid":"9647455632640983844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room with 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":"12368626439140554880.mp4"}
+{"uid":"10777626854186180270","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18367635266546119920.mp4"}
+{"uid":"17019565739789766536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black packet in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7193806748274076727.mp4"}
+{"uid":"14892449161657676226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"14610206475496487155.mp4"}
+{"uid":"14617151202323670944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1663806009867938358.mp4"}
+{"uid":"9747641681832490772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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\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":"17142743083285178315.mp4"}
+{"uid":"16855874224930351500","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candies in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place candies in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candies in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candies in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candies in the bowl 2- put candy in the small bowl 3- put candy in the small bowl 4- place candy in the bowl 5- Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17769359230720935070.mp4"}
+{"uid":"13754438814156021796","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- put pink candy in the small bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e","video":"5688435030749612768.mp4"}
+{"uid":"5345305963115741765","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- place candies in the bowl 3- put candy in the small bowl 4- put candy in the small bowl 5- place candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e","video":"833004845964081025.mp4"}
+{"uid":"7240817205914249361","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the right bowl 2- put candy in the small bowl 3- place candy in the bowl 4- place candies in the bowl 5- put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17405089771331740863.mp4"}
+{"uid":"17766896409504387613","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink candy in the bowl 2- Put the yellow candy in the bowl 3- put yellow candy in the small bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink candy in the bowl\n\u003c/PRED\u003e","video":"686945471020112464.mp4"}
+{"uid":"18024568776125418400","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- Put the yellow candy in the bowl 3- put pink candy in the small bowl 4- Put the yellow candy in the bowl 5- put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e","video":"1693088626758560767.mp4"}
+{"uid":"17826728006045320355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the left bowl 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":"4765644768976379426.mp4"}
+{"uid":"11684535290198170126","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black packet in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11460619685128156102.mp4"}
+{"uid":"4146915284489483932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white pebble in the left transparent 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":"15280077083297922559.mp4"}
+{"uid":"6593924226789802258","text":"\u003ctask:success:discrete:False\u003e\nPut the green chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- place candy in the bowl 3- Put the green candy in the bowl 4- Put the yellow candy in the bowl 5- put pink candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e","video":"17042288737841187969.mp4"}
+{"uid":"6046121311543123556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8377359261766212455.mp4"}
+{"uid":"536977400726043242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue toffee 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":"17240398660237470449.mp4"}
+{"uid":"18341087611364185445","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the small bowl 2- place candies in the bowl 3- put candy in the small bowl 4- put candy in the small bowl 5- place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife 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":"5450908512063133384.mp4"}
+{"uid":"8654150972398443778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick  the top 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":"5209134001992104829.mp4"}
+{"uid":"204962808479209928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white candy 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":"12034140151551688247.mp4"}
+{"uid":"7601321874600386402","text":"\u003ctask:success:discrete:False\u003e\nPut the green chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- place candy in the bowl 3- place candies in the bowl 4- put candy in the small bowl 5- put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e","video":"14832662886247346496.mp4"}
+{"uid":"155506705937349656","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow candy in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow candy in the small bowl 2- put pink candy in the small bowl 3- Put the yellow candy in the bowl 4- put yellow candy in the small bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3641548913123315025.mp4"}
+{"uid":"465395259009214319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17960971999385785386.mp4"}
+{"uid":"7948763754796030424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9906816246614850844.mp4"}
+{"uid":"9094183353000848042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3416963703350020767.mp4"}
+{"uid":"12581532964487422183","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- put pink candy in the small bowl 3- Put the yellow candy in the bowl 4- put yellow candy in the small bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e","video":"2228311005109921458.mp4"}
+{"uid":"2008206698474031821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9363669278413386385.mp4"}
+{"uid":"12429270733454219495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a white 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":"4536363975974798156.mp4"}
+{"uid":"8390711764429881093","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put candies in the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green chocolates in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolates in the bowl 2- put candy in the small bowl 3- put candy in the small bowl 4- place candy in the bowl 5- Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolates in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candies in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolates in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolates 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: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolates in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put candies in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candies in the small 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: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candies in the small bowl 2- put candy in the small bowl 3- put candy in the small bowl 4- place candy in the bowl 5- Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolates in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candies in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candies in the small bowl\n\u003c/PRED\u003e","video":"616435375047886865.mp4"}
+{"uid":"15751856269342336522","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the big bowl 2- put candy in the small bowl 3- place candy in the bowl 4- place candies in the bowl 5- put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put white packet in the big bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: put white packet in the big bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the big bowl\n\u003c/PRED\u003e","video":"16032709799597196388.mp4"}
+{"uid":"18337110873054503200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the first 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":"2520698003397421147.mp4"}
+{"uid":"7396345323934321994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- put yellow candy in the small bowl 3- done\n\u003c/PRED\u003e","video":"9841100696993738766.mp4"}
+{"uid":"17590828654653453077","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":"2519082740919025811.mp4"}
+{"uid":"99688131785281479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8121495267062948553.mp4"}
+{"uid":"1908163260807158667","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue highlighter 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\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate 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: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate in the bowl 2- place candies in the bowl 3- put candy in the small bowl 4- put candy in the small bowl 5- place candy in the bowl\n\u003c/PRED\u003e","video":"15662091400356162637.mp4"}
+{"uid":"7750059389096664653","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the right bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black packet in the right 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":"188485229358487392.mp4"}
+{"uid":"4748986073032084107","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- Put the yellow candy in the bowl 3- put yellow candy in the small bowl 4- done\n\u003c/PRED\u003e","video":"8557437927693504949.mp4"}
+{"uid":"9259253349952473006","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":"13006944082911076732.mp4"}
+{"uid":"17623984712431130219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the diamond 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":"10516154773982372317.mp4"}
+{"uid":"6959570701700351877","text":"\u003ctask:success:discrete:False\u003e\nput black packet in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black packet in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12824959715755769980.mp4"}
+{"uid":"16850557002035523819","text":"\u003ctask:success:discrete:False\u003e\nPut the green candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green candy in the bowl 2- Put the yellow candy in the bowl 3- put pink candy in the small bowl 4- Put the yellow candy in the bowl 5- put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green candy in the bowl\n\u003c/PRED\u003e","video":"15437752634642147698.mp4"}
+{"uid":"13991526287785303386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1187221511208768979.mp4"}
+{"uid":"1074663757269543512","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the small bowl 2- put candy in the small bowl 3- place candy in the bowl 4- Put the green candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e","video":"15966198859761420215.mp4"}
+{"uid":"179557974942826086","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the bowl 2- put candy in the small bowl 3- place candy in the bowl 4- place candies in the bowl 5- put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10758050126947352513.mp4"}
+{"uid":"6297699417863128929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the stapler from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3801440172706160486.mp4"}
+{"uid":"2229145694625025342","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put black packet in the big bowl 2- put white packet in the big bowl 3- put candy in the small bowl 4- place candy in the bowl 5- place candies in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put black packet in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black packet in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4949918167785994452.mp4"}
+{"uid":"13485703458108836125","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: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\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","video":"5255317288851049615.mp4"}
+{"uid":"3895672810557043380","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- put pink candy in the small bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow candy in the small bowl 2- Put the green candy in the bowl 3- Put the yellow candy in the bowl 4- put pink candy in the small bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow candy in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e","video":"2106692119372910648.mp4"}
+{"uid":"2927491538750415936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16128969893297010555.mp4"}
+{"uid":"10739662194268261756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12516098673910295923.mp4"}
+{"uid":"4077312461339298220","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":"2983038417651364271.mp4"}
+{"uid":"1310822114861268684","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":"777508287164743985.mp4"}
+{"uid":"11984905800335138517","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: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\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: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: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","video":"4996026612130505468.mp4"}
+{"uid":"14286861896511947999","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl 13- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl 13- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow candy in the small bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow candy in the small 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":"11578273641890165672.mp4"}
+{"uid":"12211580646979735960","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 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 Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12649549092496087651.mp4"}
+{"uid":"15752920836999900813","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- put candy in the small bowl 3- place candy in the bowl 4- Put the green candy in the bowl 5- Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14551173731803340373.mp4"}
+{"uid":"9431470463117249309","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":"14870480065296172659.mp4"}
+{"uid":"10774122155872809927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the pen at the right of 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":"6802410876799189030.mp4"}
+{"uid":"13930177249998232527","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the bowl 2- put pink candy in the small bowl 3- Put the yellow candy in the bowl 4- put yellow candy in the small bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy in the bowl\n\u003c/PRED\u003e","video":"18150449616031275541.mp4"}
+{"uid":"7296777574332578556","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow candy in the small bowl 2- put yellow candy in the small bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow candy in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put yellow candy in the small bowl\n\u003c/PRED\u003e","video":"12073989687323133852.mp4"}
+{"uid":"12009465825206180672","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the small bowl 2- place candy in the bowl 3- Put the green candy in the bowl 4- Put the yellow candy in the bowl 5- put pink candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the small bowl\n\u003c/PRED\u003e","video":"4987478860496368796.mp4"}
+{"uid":"3939774251688548684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pile of paper cups 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":"13439147373531308148.mp4"}
+{"uid":"11457019498804194881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput invisible tape in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14916164804943052311.mp4"}
+{"uid":"2103194752270872950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sachet in the top right of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4411123238723672425.mp4"}
+{"uid":"4511344172784384330","text":"\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: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: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: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: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","video":"17721205542543156381.mp4"}
+{"uid":"9240077026463504465","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask: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: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","video":"319783792619661168.mp4"}
+{"uid":"17746067347618081937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"680670772111837589.mp4"}
+{"uid":"14534050277908993137","text":"\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: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 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","video":"15961836598670550622.mp4"}
+{"uid":"5271486121497210349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"522829433511072960.mp4"}
+{"uid":"9036878215485487947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the grapes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5832132222720347853.mp4"}
+{"uid":"2238019726038222863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pocorn 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":"6628915849166364326.mp4"}
+{"uid":"13618044485729247436","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":"3771765566618068311.mp4"}
+{"uid":"11413316234031924616","text":"\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: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 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4762891050236388575.mp4"}
+{"uid":"4723268528171582850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14440229786178429691.mp4"}
+{"uid":"12987801482516935153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into mesh container 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":"4667033084338259153.mp4"}
+{"uid":"18386426323348698588","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- place candy in the bowl 3- place candies in the bowl 4- put candy in the small bowl 5- put candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13127499742714141384.mp4"}
+{"uid":"18318578318909098727","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the right bowl 2- put white packet in the big bowl 3- put candy in the small bowl 4- place candy in the bowl 5- place candies in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8827542151885156750.mp4"}
+{"uid":"16111995734352504138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7355232550452530510.mp4"}
+{"uid":"1375808467728992635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12945078570043326416.mp4"}
+{"uid":"10264553726643958816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4905478635163690775.mp4"}
+{"uid":"6567318268374368989","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl 13- Put the yellow candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl 13- Put the yellow candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e","video":"14915788163783955004.mp4"}
+{"uid":"12224888931255483214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green candy in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put green candy in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green candy in the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green candy in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: put green candy in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green candy in the small 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: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put green candy in the small bowl 2- Put the yellow candy in the bowl 3- put pink candy in the small bowl 4- Put the yellow candy in the bowl 5- put yellow candy in the small bowl\n\u003c/PRED\u003e","video":"18197556934682399786.mp4"}
+{"uid":"17767077148887185505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6609961730474631761.mp4"}
+{"uid":"12360316852271724687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour pistachios 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":"14511798775931607174.mp4"}
+{"uid":"14229489352724573568","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl Q: immediate next step? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the candies in the small bowl and place the black and white chip bag in the right bowl. last 20 steps: 1- put black packet in the big bowl 2- put black packet in the big bowl 3- put white packet in the big bowl 4- put candy in the small bowl 5- place candy in the bowl 6- place candies in the bowl 7- put candy in the small bowl 8- put candy in the small bowl 9- place candy in the bowl 10- Put the green candy in the bowl 11- Put the yellow candy in the bowl 12- put pink candy in the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy in the bowl 2- put yellow candy in the small bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy in the bowl\n\u003c/PRED\u003e","video":"8640333562274912981.mp4"}
+{"uid":"6918248983783191798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut spoon in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16411709444977986316.mp4"}
+{"uid":"217124006517196246","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in glass jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e","video":"17606079558627994922.mp4"}
+{"uid":"14133188052181919211","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit in glass jar 2- Place the pear into the container 3- Place the orange into the container 4- Place the orange into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e","video":"3219860643950589631.mp4"}
+{"uid":"9028259157388965096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9855439553166519601.mp4"}
+{"uid":"13036982085799587036","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in glass jar 2- place orange in to the jar 3- Place the pear into the container 4- Place the orange into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e","video":"5246410450826331098.mp4"}
+{"uid":"280602314738232833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nFlip 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":"910892372359788463.mp4"}
+{"uid":"4702585847853650698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrage the pink candy in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12186817137954408242.mp4"}
+{"uid":"3569223205491972349","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the container 2- Place the orange into the container 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e","video":"13613282133543986220.mp4"}
+{"uid":"16705719126990021148","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":"13646425280004783624.mp4"}
+{"uid":"1104364066834591888","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in to the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange in to 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":"10917882863153905278.mp4"}
+{"uid":"6734632836318130470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens above the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12475021085453529980.mp4"}
+{"uid":"13009873697136609860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16085411781509889256.mp4"}
+{"uid":"13274183071138484815","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15337112744247822349.mp4"}
+{"uid":"18234570882903615355","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in to 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: place the apple in to the jar\n\u003c/PRED\u003e","video":"5967116000049784280.mp4"}
+{"uid":"14751261421183162509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7681573928575481937.mp4"}
+{"uid":"7792979071157098370","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in to 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar Q: immediate next step? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in to the jar 2- Place an apple into the container 3- place orange in to the jar 4- Place the pear into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in to 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e","video":"717272580821378515.mp4"}
+{"uid":"10609864619248550108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3721725439536535779.mp4"}
+{"uid":"10143221044675207629","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple into the container 2- place the apple in to the jar 3- Place an apple into the container 4- place orange in to the jar 5- Place the pear into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e","video":"434580960800418146.mp4"}
+{"uid":"6474475491455375863","text":"\u003ctask:success:discrete:False\u003e\nput fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container 9- Place the orange into the container Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container 9- Place the orange into the container Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit in glass jar 2- done\n\u003c/PRED\u003e","video":"17847720544518588416.mp4"}
+{"uid":"13646854920269645785","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in glass jar 2- Place an apple into the container 3- place orange in to the jar 4- Place the pear into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e","video":"17497624634909344711.mp4"}
+{"uid":"8092181685936594252","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18157745751718973278.mp4"}
+{"uid":"9986514772595685676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl 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":"1584227191699646251.mp4"}
+{"uid":"11175887073039656270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11114654147494160485.mp4"}
+{"uid":"4497444044353602830","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit in glass jar 2- Place the orange into the container 3- Place the orange into the container 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7109988762847781727.mp4"}
+{"uid":"13748710033118422186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2664606833586034554.mp4"}
+{"uid":"7769573282924624491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4961550593406334897.mp4"}
+{"uid":"15368633302711581054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet 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":"15978193350709616960.mp4"}
+{"uid":"16341780645260659881","text":"\u003ctask:success:discrete:False\u003e\nPlace an apple into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple into the container 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e","video":"10431547892931961420.mp4"}
+{"uid":"12848873485390922312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the green object in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10822837712974183716.mp4"}
+{"uid":"13001065444388917205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"5302201257917186854.mp4"}
+{"uid":"5626795488580872118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife in plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15035444286708720754.mp4"}
+{"uid":"5466859239857169550","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":"14024460542935519021.mp4"}
+{"uid":"17885103553104521608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3068172194527668978.mp4"}
+{"uid":"5482151461746298349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4007987126470387348.mp4"}
+{"uid":"6870602127589882395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12686569759886011962.mp4"}
+{"uid":"8959416276533714343","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in to the jar 2- Place the pear into the container 3- Place the orange into the container 4- Place the orange into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange in to 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in to the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in to 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: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place orange in to the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container Q: immediate next step? \u003cPRED\u003eA: place orange in to the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in to the jar\n\u003c/PRED\u003e","video":"3212416694743287282.mp4"}
+{"uid":"11572880909945400072","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the container 2- Place the pear into the container 3- Place the orange into the container 4- Place the orange into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e","video":"3176313568807422058.mp4"}
+{"uid":"7504180668859492970","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple into the container 2- Place an apple into the container 3- place orange in to the jar 4- Place the pear into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3974864741984243940.mp4"}
+{"uid":"13396399019197342153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15171577140414532321.mp4"}
+{"uid":"11236486865548663019","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple in to the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in to the jar 2- place the apple in to the jar 3- Place an apple into the container 4- place orange in to the jar 5- Place the pear into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in to 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":"5324730508364379217.mp4"}
+{"uid":"12463490216844714594","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar Q: immediate next step? \u003cPRED\u003eA: Place the pear into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pear into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place the pear into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pear into the container 2- Place the orange into the container 3- Place the orange into the container 4- Place the orange into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pear into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pear into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pear into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"519583819194563416.mp4"}
+{"uid":"7861990422234982618","text":"\u003ctask:success:discrete:False\u003e\nput fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit in glass jar 2- Place the orange into the container 3- Place the orange into the container 4- Place the orange into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e","video":"15580317789278037335.mp4"}
+{"uid":"17537495566368881088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cart near to the locker 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":"17034153661208384103.mp4"}
+{"uid":"2923782311332442598","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit in glass jar 2- Place the orange into the container 3- Place the orange into the container 4- Place the orange into the container 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3990085663497320793.mp4"}
+{"uid":"2732749760275492276","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2524544845385368745.mp4"}
+{"uid":"6988833472216781186","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in to 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: place the apple in to the jar\n\u003c/PRED\u003e","video":"14096506781008614308.mp4"}
+{"uid":"13847200797611982340","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container 9- Place the orange into the container Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container 9- Place the orange into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the container 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e","video":"4227550575411026098.mp4"}
+{"uid":"2727243246228133658","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the container 2- Place the orange into the container 3- Place the orange into the container 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e","video":"3054220934200005816.mp4"}
+{"uid":"5720801381100638746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the left green 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":"14337938876989855857.mp4"}
+{"uid":"6349914544189131514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver 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":"2194456377202188719.mp4"}
+{"uid":"8657513574059214373","text":"\u003ctask:success:discrete:False\u003e\nPlace the orange into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the container 2- Place the orange into the container 3- Place the orange into the container 4- Place the orange into the container 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place the orange into the container\n\u003c/PRED\u003e","video":"5635630602085729884.mp4"}
+{"uid":"15992170013387675838","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple into the container 2- place orange in to the jar 3- Place the pear into the container 4- Place the orange into the container 5- Place the orange into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar Q: immediate next step? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12859886571432132390.mp4"}
+{"uid":"1994646103758265650","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container Q: immediate next step? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar 2- place the apple in to the jar 3- place the apple in to the jar 4- Place an apple into the container 5- place orange in to the jar 6- Place the pear into the container 7- Place the orange into the container 8- Place the orange into the container Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit in glass jar 2- Place the orange into the container 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14671373404260904089.mp4"}
+{"uid":"14523229311030660425","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in glass jar 2- place the apple in to the jar 3- Place an apple into the container 4- place orange in to the jar 5- Place the pear into the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- place the apple in to the jar Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put apple in glass jar\n\u003c/PRED\u003e","video":"2874843308919811410.mp4"}
+{"uid":"7185499662976720997","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in to 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: place the apple in to the jar\n\u003c/PRED\u003e","video":"8456336366482045840.mp4"}
+{"uid":"8567332715069099875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6866830397213401691.mp4"}
+{"uid":"14840403758696775743","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the stand 2- place packet in the stand 3- organize the oatmeal pack in tray 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e","video":"8915190722903977389.mp4"}
+{"uid":"11731025698485989796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11864681743035078340.mp4"}
+{"uid":"1902908133762138999","text":"\u003ctask:success:discrete:True\u003e\nplace orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e","video":"10786651821961120985.mp4"}
+{"uid":"9788895139768807613","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":"10862770830209709492.mp4"}
+{"uid":"5208519223963576991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- place packet in the stand 3- organize the oatmeal pack in tray 4- place packet in the stand 5- organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"7012277074714611421.mp4"}
+{"uid":"17278507605644482204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack plate on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7373839544608015697.mp4"}
+{"uid":"7909357736356484284","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the oatmeal pack in 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: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- organize the oatmeal pack in tray 2- done\n\u003c/PRED\u003e","video":"9068241249362769005.mp4"}
+{"uid":"10045420350403456592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on 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":"2115750231521814606.mp4"}
+{"uid":"15045793781834851373","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":"15027563944603014347.mp4"}
+{"uid":"9013383758189333795","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"4833187990623513080.mp4"}
+{"uid":"9143779211036149179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"434633441041449007.mp4"}
+{"uid":"17388951174720623957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar packets in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5933504171619854945.mp4"}
+{"uid":"3432157383581306317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue box into 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":"11828528224450059425.mp4"}
+{"uid":"7869929307636527745","text":"\u003ctask:success:discrete:True\u003e\nplace the spoon in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e","video":"15504885783094514814.mp4"}
+{"uid":"2471276649737208410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon into the cup 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoon into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e","video":"8253882271579584590.mp4"}
+{"uid":"11222362224183319690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the oatmeal pack in 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":"3152039880132308852.mp4"}
+{"uid":"10326230920039215658","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- organize the oatmeal pack in tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the oatmeal pack in 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: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"16327147415747656315.mp4"}
+{"uid":"5203825811935142004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3047446976925454451.mp4"}
+{"uid":"12531524521509681870","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in holder 2- place packet in the stand 3- place packet in the stand 4- place packet in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e","video":"15285573923803821884.mp4"}
+{"uid":"12478021954007891746","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the cup 2- place packet in the stand 3- place packet in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"15365388781565572.mp4"}
+{"uid":"8594789201211049015","text":"\u003ctask:success:discrete:True\u003e\nplace orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e","video":"4564139361892118163.mp4"}
+{"uid":"7585953910386922319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow marker 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":"10041964382638953305.mp4"}
+{"uid":"529392525610835500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"12341616559189250260.mp4"}
+{"uid":"3588146582491332297","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14198127722233416651.mp4"}
+{"uid":"9343406428534392244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2348975624176169854.mp4"}
+{"uid":"11941807428233770250","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the cup 2- place spoon into the cup 3- place packet in the stand 4- place packet in the stand 5- place packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1296624691641048198.mp4"}
+{"uid":"16004909362018979969","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the stand 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e","video":"195593356371638456.mp4"}
+{"uid":"16534977663259772390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nuts 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":"17626575488692007088.mp4"}
+{"uid":"146056774503843889","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":"11735297691050045071.mp4"}
+{"uid":"15991768244152254318","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- organize the oatmeal pack in tray 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"1682967370538715211.mp4"}
+{"uid":"7259324069999057566","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the cup 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"8999964606220210163.mp4"}
+{"uid":"7548076049008027732","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":"12421519131367232415.mp4"}
+{"uid":"8749259591227921959","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the cup 2- place spoon into the cup 3- place packet in the stand 4- place packet in the stand 5- place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"9461885399469204930.mp4"}
+{"uid":"15493201676419287155","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4882498969409000327.mp4"}
+{"uid":"3421533134095622799","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"10133656502315472253.mp4"}
+{"uid":"7765994052528664021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the three number ball on the billiard board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7420055485364664652.mp4"}
+{"uid":"14505701579461737418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chips 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":"12793409343316072434.mp4"}
+{"uid":"640500100284181895","text":"\u003ctask:success:discrete:True\u003e\nplace spoon into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon into the cup 2- place packet in the stand 3- place packet in the stand 4- place packet in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7533710262298717400.mp4"}
+{"uid":"3629922305966335077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep glass with candies 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":"5262646469091034086.mp4"}
+{"uid":"7754925485720381599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14099364329050353679.mp4"}
+{"uid":"9130936162534721172","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"6700981641841190329.mp4"}
+{"uid":"8836543373336903150","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"16348222977687073262.mp4"}
+{"uid":"1643338244215709494","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the stand 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e","video":"6488631811126501444.mp4"}
+{"uid":"9673325173240274750","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- organize the oatmeal pack in tray 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e","video":"9429056846554667034.mp4"}
+{"uid":"8745292523026231146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2706560370190649110.mp4"}
+{"uid":"10650204700283301488","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":"2287075320432954434.mp4"}
+{"uid":"8675505209569277256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUplift the grey 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":"8661014040777482397.mp4"}
+{"uid":"12223986199441209033","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the oatmeal pack in 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":"16839579823626190539.mp4"}
+{"uid":"8015235908141354987","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5525803662182312125.mp4"}
+{"uid":"7936518080816871880","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- organize the oatmeal pack in tray 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"5972471950051482452.mp4"}
+{"uid":"5820005085259725488","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14225122130966548552.mp4"}
+{"uid":"410661351318594379","text":"\u003ctask:success:discrete:False\u003e\nplace orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in white bowl 2- place packet in the stand 3- organize the oatmeal pack in tray 4- place packet in the stand 5- organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"223192772218821449.mp4"}
+{"uid":"8427592135265375050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7009853979363912901.mp4"}
+{"uid":"7550788007530237331","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- done\n\u003c/PRED\u003e","video":"1334560585029859631.mp4"}
+{"uid":"7016494062539233015","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place packet in the stand 3- organize the oatmeal pack in tray 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"11143506203913176169.mp4"}
+{"uid":"5151026358286385970","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place packet in the stand 3- organize the oatmeal pack in tray 4- place packet in the stand 5- organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"14159218749479714949.mp4"}
+{"uid":"6661585168313662318","text":"\u003ctask:success:discrete:True\u003e\norganize the oatmeal pack in 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: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"17208275345845585434.mp4"}
+{"uid":"3050975455113693749","text":"\u003ctask:success:discrete:True\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"11683856920513982261.mp4"}
+{"uid":"6758035868954266986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5710720913614381410.mp4"}
+{"uid":"3496178549936998938","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":"7958164855226357182.mp4"}
+{"uid":"1101416850121441120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabetic tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7165460614070566023.mp4"}
+{"uid":"1414554658390521091","text":"\u003ctask:success:discrete:False\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the stand 2- place packet in the stand 3- organize the oatmeal pack in tray 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2782450167432406723.mp4"}
+{"uid":"2398069082504473641","text":"\u003ctask:success:discrete:True\u003e\nplace spoon into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e","video":"17250451320433284435.mp4"}
+{"uid":"15738548662138041340","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the stand 2- place packet in the stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e","video":"14401148310102863449.mp4"}
+{"uid":"14959134111061037457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the paper 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":"5156267095265563013.mp4"}
+{"uid":"9776121872385946351","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- organize the oatmeal pack in tray 2- organize the oatmeal pack in tray 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"5219326365815198476.mp4"}
+{"uid":"3552927344886201084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15022504962892758176.mp4"}
+{"uid":"17902995153928794970","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14004515337605091123.mp4"}
+{"uid":"10319558406180593665","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"3120415643199990539.mp4"}
+{"uid":"9853060790568152076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the oat meal 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":"12378192004880797335.mp4"}
+{"uid":"230980390644067900","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoon in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5859769379112940144.mp4"}
+{"uid":"11510550228055578077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cloth on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17291701871552095484.mp4"}
+{"uid":"3776513249045456789","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the oatmeal pack in 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 put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- organize the oatmeal pack in tray 2- organize the oatmeal pack in tray 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"4350419833074523399.mp4"}
+{"uid":"4873212631104675433","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":"8734114290820701988.mp4"}
+{"uid":"7770408952900085158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7389195881968078705.mp4"}
+{"uid":"2082647850673686091","text":"\u003ctask:success:discrete:True\u003e\nplace spoon into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon into the cup 2- place spoon into the cup 3- place packet in the stand 4- place packet in the stand 5- place packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e","video":"2872523923454328931.mp4"}
+{"uid":"12295126115604459504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the wet wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2273767975340754060.mp4"}
+{"uid":"17758656576509020492","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- organize the oatmeal pack in tray 2- place packet in the stand 3- done\n\u003c/PRED\u003e","video":"11155901620644839465.mp4"}
+{"uid":"15179777108685248238","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in holder 2- place packet in the stand 3- place packet in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e","video":"17380620374097899667.mp4"}
+{"uid":"16690762614004425904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace it on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14603434385155627800.mp4"}
+{"uid":"1702065868161318008","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoon into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon into the cup 2- place spoon into the cup 3- place spoon into the cup 4- place packet in the stand 5- place packet in the stand\n\u003c/PRED\u003e","video":"3476034363265781872.mp4"}
+{"uid":"11328122163123827943","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand 13- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand 13- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e","video":"6459885241702478707.mp4"}
+{"uid":"3615199798892961485","text":"\u003ctask:success:discrete:False\u003e\nplace the spoon in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in holder 2- place spoon into the cup 3- place packet in the stand 4- place packet in the stand 5- place packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e","video":"15211355749618027038.mp4"}
+{"uid":"1646852318353171001","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand 13- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand 12- place packet in the stand 13- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10634226770330187147.mp4"}
+{"uid":"1692213172749214646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pipcorn 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":"13706589281778639370.mp4"}
+{"uid":"4891714718072866310","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in white bowl 2- place packet in the stand 3- organize the oatmeal pack in tray 4- place packet in the stand 5- organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in white bowl\n\u003c/PRED\u003e","video":"13340443460421214508.mp4"}
+{"uid":"1282742483865310814","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":"773914472707102633.mp4"}
+{"uid":"11880626757854168644","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place packet in the stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup 11- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"10716528577754844990.mp4"}
+{"uid":"7158215792728905254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the brown 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":"705550990698545965.mp4"}
+{"uid":"12542202115548526305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plate in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3577396749808813243.mp4"}
+{"uid":"3275580145373297725","text":"\u003ctask:success:discrete:True\u003e\nplace spoon into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the stand 2- place packet in the stand 3- place packet in the stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: place packet in the stand\n\u003c/PRED\u003e","video":"8903311229240240323.mp4"}
+{"uid":"12823241370615853394","text":"\u003ctask:success:discrete:False\u003e\nplace the spoon in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in holder 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place packet in the stand\n\u003c/PRED\u003e","video":"15448274710913658597.mp4"}
+{"uid":"13784068311737394007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoon in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3884040063155979229.mp4"}
+{"uid":"17428701141271731115","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the oatmeal pack in 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: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray Q: next 5 steps? \u003cPRED\u003eA: 1- organize the oatmeal pack in tray 2- organize the oatmeal pack in tray 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray Q: immediate next step? \u003cPRED\u003eA: organize the oatmeal pack in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the oatmeal pack in 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":"237593413044039575.mp4"}
+{"uid":"5578393668502083736","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand 6- organize the oatmeal pack in tray 7- place spoon into the cup 8- place spoon into the cup 9- place spoon into the cup 10- place spoon into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place packet in the stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"14246310297589691233.mp4"}
+{"uid":"16756324269359461608","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place spoon into the cup 3- place spoon into the cup 4- place spoon into the cup 5- place spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- place packet in the stand 4- organize the oatmeal pack in tray 5- place packet in the stand Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket, the spoons back into the black cup and the oranges back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"9111120012285113348.mp4"}
+{"uid":"18411732417986741700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6995913200596227455.mp4"}
+{"uid":"10215500699269078040","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- put the red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e","video":"2107868744560449915.mp4"}
+{"uid":"1100235779653956843","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13673218873779605374.mp4"}
+{"uid":"13533132106615379733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13944817880602098099.mp4"}
+{"uid":"16796708614053595386","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack Q: immediate next step? \u003cPRED\u003eA: Move the book to the corner of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: Move the book to the corner of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the book to the corner of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move the book to the corner of the table 2- Place the book in the rack 3- Close the rack door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the book to the corner of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the book to the corner of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the book to the corner of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10467870413910783004.mp4"}
+{"uid":"3956469350789543291","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11134886594436766225.mp4"}
+{"uid":"5508872705876169967","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- put the red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"5714940128295473505.mp4"}
+{"uid":"5723772858727668995","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow marker 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:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow marker in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker in the rack 2- Place the blue pen in the rack 3- Move the book to the corner of the table 4- Place the book in the rack 5- Close the rack door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow marker in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the rack\n\u003c/PRED\u003e","video":"15105348647864793182.mp4"}
+{"uid":"16005000771015131376","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- put the red bull can on the table 3- done\n\u003c/PRED\u003e","video":"13422462922027694025.mp4"}
+{"uid":"4164546241657753377","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack 5- Move the book to the corner of the table 6- Place the book in the rack Q: immediate next step? \u003cPRED\u003eA: Close the rack door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the rack door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack 5- Move the book to the corner of the table 6- Place the book in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Close the rack door 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the rack door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: Close the rack door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the rack door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the rack door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13060766171423289003.mp4"}
+{"uid":"15982640934555846213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"7238500511845734100.mp4"}
+{"uid":"6787190632600457079","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1230905714631858681.mp4"}
+{"uid":"4464601822463477842","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- put the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- put the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14419534246554155389.mp4"}
+{"uid":"3547074541811893972","text":"\u003ctask:success:discrete:False\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e","video":"11785139488342237240.mp4"}
+{"uid":"1409283584769452338","text":"\u003ctask:success:discrete:True\u003e\nput the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e","video":"17171614012891156201.mp4"}
+{"uid":"18325602253476858884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17556660950397701720.mp4"}
+{"uid":"17776467019617653192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12814694043758052485.mp4"}
+{"uid":"1061959005567850953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop toffee in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13335802437768949357.mp4"}
+{"uid":"14152011996138135286","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- put the red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8580543602648224901.mp4"}
+{"uid":"10474558157021413777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8225732212037065568.mp4"}
+{"uid":"11682447399113360588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup 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":"11897357156844948706.mp4"}
+{"uid":"14346518645489538075","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: Open the rack door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack Q: immediate next step? \u003cPRED\u003eA: Open the rack door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the rack door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Open the rack door 2- Place the yellow marker in the rack 3- Place the blue pen in the rack 4- Move the book to the corner of the table 5- Place the book in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the rack door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the rack door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the rack door\n\u003c/PRED\u003e","video":"3383352820728829530.mp4"}
+{"uid":"2774754536746188413","text":"\u003ctask:success:discrete:False\u003e\nPlace the book 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:affordance:discriminative:discrete:True\u003e\nPlace the book 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack 5- Move the book to the corner of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the book in the rack 2- Close the rack door 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: Place the book in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack 5- Move the book to the corner of the table Q: immediate next step? \u003cPRED\u003eA: Place the book in the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the book in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the book in the rack\n\u003c/PRED\u003e","video":"18027527883255338190.mp4"}
+{"uid":"2878221289630482534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16450885071709945836.mp4"}
+{"uid":"16227852245863149584","text":"\u003ctask:success:discrete:False\u003e\nUnlock 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:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: Unlock the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unlock the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Unlock the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnlock 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: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack 5- Move the book to the corner of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unlock the rack\n\u003c/PRED\u003e","video":"15051058112730554160.mp4"}
+{"uid":"13683135500521241711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7530752225486340465.mp4"}
+{"uid":"15819600401171213808","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e","video":"13669459940731725221.mp4"}
+{"uid":"2669660292856910081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1811582616081683740.mp4"}
+{"uid":"931581086048427407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14520648894591615963.mp4"}
+{"uid":"16328761689353141758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the handle of 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":"18007635474123375467.mp4"}
+{"uid":"17297332525025569151","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":"14674291198300004709.mp4"}
+{"uid":"14504453145894448419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7961690629260760023.mp4"}
+{"uid":"15340783771301491748","text":"\u003ctask:success:discrete:False\u003e\nplace redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e","video":"10004554952210659705.mp4"}
+{"uid":"17766584762272608463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen 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":"6184170638213964173.mp4"}
+{"uid":"18104506713004253862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the can in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10678725191122774529.mp4"}
+{"uid":"899403771692493039","text":"\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- put the red bull can 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 red bull can on the table\n\u003c/PRED\u003e","video":"3749257918917762826.mp4"}
+{"uid":"15613826657829837125","text":"\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"10131827246900299726.mp4"}
+{"uid":"5915726278855026406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14260908037614282068.mp4"}
+{"uid":"15539913797912276036","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack 5- Move the book to the corner of the table 6- Place the book in the rack 7- Close the rack door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack 4- Place the blue pen in the rack 5- Move the book to the corner of the table 6- Place the book in the rack 7- Close the 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: Close the rack door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the rack door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3155199404622114456.mp4"}
+{"uid":"8784304586371666502","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e","video":"4188459691201778136.mp4"}
+{"uid":"8149897123353007877","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1191848564255727631.mp4"}
+{"uid":"7198700864615153557","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- put the red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9451217615275978627.mp4"}
+{"uid":"3348049844756100559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black object on the connector Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"628009800291698899.mp4"}
+{"uid":"9488807813315024403","text":"\u003ctask:success:discrete:True\u003e\nPlace the yellow marker in 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow marker in the rack\n\u003c/PRED\u003e","video":"286476998360037742.mp4"}
+{"uid":"34541637299350168","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- put the red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e","video":"10206422138181633882.mp4"}
+{"uid":"5789410364400530155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tong inside the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11618849849909914517.mp4"}
+{"uid":"11083208504957641318","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the rack 2- Move the book to the corner of the table 3- Place the book in the rack 4- Close the rack door 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5 Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I left my notebook, highlighter and pen in the MK, please go get them and put them into locker number 5. last 20 steps: 1- Unlock the rack 2- Open the rack door 3- Place the yellow marker in the rack Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen 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:success:discrete:False\u003e\nPlace the blue pen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the rack\n\u003c/PRED\u003e","video":"13137509662142705201.mp4"}
+{"uid":"913141106052438694","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- put the red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"3532729837500398320.mp4"}
+{"uid":"18049811678517873154","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- put the red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"11462461575295038857.mp4"}
+{"uid":"11754031480661951218","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the book in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the book in 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":"10022119761839395569.mp4"}
+{"uid":"9699395342388252291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput holder upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12568854510251914793.mp4"}
+{"uid":"8911354745493195052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18078446374771797268.mp4"}
+{"uid":"14462424892239874267","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- place redbull can on the table 3- put the red bull can on the table 4- done\n\u003c/PRED\u003e","video":"4398858633507390353.mp4"}
+{"uid":"2268312640198678520","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place redbull can on the table 2- place redbull can on the table 3- place redbull can on the table 4- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e","video":"17843260019110003459.mp4"}
+{"uid":"15743731424032473360","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue pen in 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the rack\n\u003c/PRED\u003e","video":"15245879939961879418.mp4"}
+{"uid":"16972902791009005119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4158444812654479755.mp4"}
+{"uid":"11986081801144315707","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange packet from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- move towards the black table. 3- Place the snack packet on the black table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the orange packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"9175273994086521444.mp4"}
+{"uid":"5319127680180373907","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15376252248456384769.mp4"}
+{"uid":"4166629682165460393","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- put the yellow candy on the paper 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter 4- close the drawer Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"16541632789863949594.mp4"}
+{"uid":"15062062636121645193","text":"\u003ctask:success:discrete:True\u003e\nMove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e","video":"5997108451449252302.mp4"}
+{"uid":"9668349340054383374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15033435783793911282.mp4"}
+{"uid":"8595371032438923494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10038482525066865918.mp4"}
+{"uid":"13233817975768326926","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":"10562449890454258046.mp4"}
+{"uid":"1409858257278874011","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: immediate next step? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo into the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go into the hallway 2- Move towards the black table 3- Place the  coconut bottle on the black table 4- move away from the black table 5- enter the room.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo into the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 into the hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go into the hallway\n\u003c/PRED\u003e","video":"4410586676148076511.mp4"}
+{"uid":"8370606983061397314","text":"\u003ctask:success:discrete:True\u003e\nplace the orange packet on the black Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet on the black\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- place the orange packet on the black Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- place the orange packet on the black Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9418024824349531751.mp4"}
+{"uid":"5653772531478326324","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move towards the orange packet.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the orange packet. 2- Leave the room 3- move towards the black table. 4- Place the snack packet on the black table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the orange packet.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the orange packet. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: immediate next step? \u003cPRED\u003eA: move towards the orange packet.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the orange packet. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the orange packet.\n\u003c/PRED\u003e","video":"15568236398317079383.mp4"}
+{"uid":"17650851756053325409","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the snack packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the snack packet 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":"6749568671188184658.mp4"}
+{"uid":"7615263818144403249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHandover the packet to the user Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13399092240442933016.mp4"}
+{"uid":"12764049883094998810","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLeave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"888684512935282302.mp4"}
+{"uid":"11539452225177434614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15006315442391196842.mp4"}
+{"uid":"17431475600393078415","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":"12382746434022710727.mp4"}
+{"uid":"9021930272114326054","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":"444209565401590156.mp4"}
+{"uid":"1253123849106208439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12834431117058980022.mp4"}
+{"uid":"17953032060246685462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7244333253990334150.mp4"}
+{"uid":"16071159777251448740","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the coconut bottle on the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo towards the coconut bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go towards the coconut bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo towards the coconut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Go towards the coconut bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go towards the coconut bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the coconut bottle on the table\n\u003c/PRED\u003e","video":"14790733355455983181.mp4"}
+{"uid":"3215690155463476823","text":"\u003ctask:success:discrete:False\u003e\nmove away from the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- move towards the black table. Q: immediate next step? \u003cPRED\u003eA: move away from the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the orange packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move away from the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- move towards the black table. Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the orange packet 2- done\n\u003c/PRED\u003e","video":"2920121988409964147.mp4"}
+{"uid":"6197736129956378583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper cup to the left side of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2433871437579466621.mp4"}
+{"uid":"12320357507249477137","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- move towards the black table. Q: immediate next step? \u003cPRED\u003eA: Place the orange chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange chip bag on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Place the orange chip bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange chip bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange chip bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- move towards the black table. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange chip bag on the table 2- done\n\u003c/PRED\u003e","video":"8149358501938853969.mp4"}
+{"uid":"8253139020889338803","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":"9191002303056751845.mp4"}
+{"uid":"12680205672049410240","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the shelf 2- open the yellow packet 3- pull the tissue from the packet 4- place the tissue on the table 5- wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book 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","video":"1075076466846308741.mp4"}
+{"uid":"211186441314651262","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the snack packet on the black table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: immediate next step? \u003cPRED\u003eA: Place the snack packet on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the snack packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the snack packet on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 snack packet on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Place the snack packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the snack packet on the black table\n\u003c/PRED\u003e","video":"4413036101879392772.mp4"}
+{"uid":"3806701912506243780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown 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":"7392897444485632446.mp4"}
+{"uid":"13055792499151783965","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book 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":"14207963184540282399.mp4"}
+{"uid":"3057216622217279942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17365433111925949687.mp4"}
+{"uid":"15455698093977536587","text":"\u003ctask:success:discrete:False\u003e\nMove to the 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move to the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: immediate next step? \u003cPRED\u003eA: Move to the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the door 2- move towards the orange packet. 3- Pick the orange chip bag from the table 4- Leave the room 5- move towards the black table.\n\u003c/PRED\u003e","video":"1422346554165224843.mp4"}
+{"uid":"14784521601437013227","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go straight into the office\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo straight into the office Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7559976267028990286.mp4"}
+{"uid":"5570014216834634125","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. Q: immediate next step? \u003cPRED\u003eA: Pick up the snack packet 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 snack packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the snack packet 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 snack packet 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the snack packet from the table 2- move towards the black table. 3- Place the snack packet on the black table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the snack packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Pick up the snack packet from the table\n\u003c/PRED\u003e","video":"9705386545427876520.mp4"}
+{"uid":"15767337747288978454","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the coconut bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the coconut bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the coconut bottle from the table 2- exit the room 3- Move towards the black table 4- Place the  coconut bottle on the black table 5- move away from the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the coconut bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the coconut bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Pick up the coconut bottle from the table\n\u003c/PRED\u003e","video":"1218471848138196636.mp4"}
+{"uid":"7719517093524595834","text":"\u003ctask:success:discrete:False\u003e\nplace the orange packet on the black Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet on the black\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: place the orange packet on the black\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: immediate next step? \u003cPRED\u003eA: place the orange packet on the black\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet on the black Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet on the black\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet on the black 2- done\n\u003c/PRED\u003e","video":"9808721323125750807.mp4"}
+{"uid":"12223685808324254484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14037905071531743351.mp4"}
+{"uid":"7763854009098269045","text":"\u003ctask:success:discrete:True\u003e\nGo towards the black 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- Go towards the black table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- Go towards the black table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17659121692807311047.mp4"}
+{"uid":"4444617875918406434","text":"\u003ctask:success:discrete:True\u003e\nplace the book 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 book in the shelf\n\u003c/PRED\u003e","video":"6612392026438180301.mp4"}
+{"uid":"3657292111640184498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue 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":"6540809967629219342.mp4"}
+{"uid":"8366106921793657685","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: immediate next step? \u003cPRED\u003eA: place the coconut bottle on the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: place the coconut bottle on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the coconut bottle on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the coconut bottle on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the coconut bottle on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the coconut bottle on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the coconut bottle on the table. 2- move away from the black table 3- enter the room. 4- move towards the orange packet. 5- Pick the orange chip bag from the table\n\u003c/PRED\u003e","video":"6975669524417343586.mp4"}
+{"uid":"6356671943844820479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11732866980010056260.mp4"}
+{"uid":"5491105567284538233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7103000470321593637.mp4"}
+{"uid":"14615031844255735226","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove out of 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move out of the room 2- Place the snack packet on the black table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e","video":"8847891923294038527.mp4"}
+{"uid":"4012113243825014170","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":"8443964837351309722.mp4"}
+{"uid":"280150984323271103","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow candy on the counter 2- close the drawer 3- exit the room 4- put the yellow candy on the paper 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow candy on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow candy on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the yellow candy on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy Q: immediate next step? \u003cPRED\u003eA: place the yellow candy on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow candy on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow candy on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1416869322824110181.mp4"}
+{"uid":"11379291916589438621","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. 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:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter 4- close the drawer 5- exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8635997826463042282.mp4"}
+{"uid":"6106014722153987476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the indoor plant downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1040992553683533511.mp4"}
+{"uid":"13135057916881116061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie square 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":"13100501226170025712.mp4"}
+{"uid":"10068442544682931313","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: immediate next step? \u003cPRED\u003eA: Go to the middle table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the middle table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go to the middle table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the middle table 2- Pick the orange chip bag from the table 3- Leave the room 4- move towards the black table. 5- Place the snack packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the middle table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the middle table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the middle table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13492444179092034219.mp4"}
+{"uid":"10994673958952514512","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book 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: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the shelf 2- place the book in the shelf 3- place the book in the shelf 4- open the yellow packet 5- pull the tissue from the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15662862887411952222.mp4"}
+{"uid":"11946706298743405639","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: immediate next step? \u003cPRED\u003eA: Go straight into the office\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go straight into the office\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo straight into the office Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 straight into the office\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go straight into the office\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Go straight into the office 2- Pick the orange chip bag from the table 3- Leave the room 4- move towards the black table. 5- Place the snack packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo straight into the office Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9487344956278958597.mp4"}
+{"uid":"13502314905024993312","text":"\u003ctask:success:discrete:True\u003e\nMove to the 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 to the door\n\u003c/PRED\u003e","video":"16752040310416576841.mp4"}
+{"uid":"9746871316102076478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"3343329062072382037.mp4"}
+{"uid":"5727055206746095330","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room. 2- Move towards the black table 3- Place the  coconut bottle on the black table 4- move away from the black table 5- enter the room.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e","video":"4630803771051923555.mp4"}
+{"uid":"13436112914628435867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the red 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":"15519281313408692647.mp4"}
+{"uid":"10147296255329664757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17776845678241287522.mp4"}
+{"uid":"11170797598655101843","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the coconut bottle on the left black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the coconut bottle on the left black 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":"730037432763575601.mp4"}
+{"uid":"5355413799792312665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the duck toy into 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":"14152451784308090809.mp4"}
+{"uid":"8503581603733044520","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- exit the room 3- Move towards the black table 4- Place the  coconut bottle on the black table 5- move away from the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"6251425059108951935.mp4"}
+{"uid":"8410032075502476675","text":"\u003ctask:success:discrete:False\u003e\nopen the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf Q: immediate next step? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- open the yellow packet 2- pull the tissue from the packet 3- place the tissue on the table 4- wipe the table with the tissue 5- place the tissue on the other side of the table\n\u003c/PRED\u003e","video":"11272906042350250892.mp4"}
+{"uid":"9237232560223965744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17111827520977455901.mp4"}
+{"uid":"16087866946783120329","text":"\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"12899585187122840764.mp4"}
+{"uid":"16561112269222258273","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: close the book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: close the book\n\u003c/PRED\u003e","video":"11103546463396143537.mp4"}
+{"uid":"10770493335142188062","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet 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 packet from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet from the table. 2- move towards the black table. 3- Place the snack packet on the black table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange packet from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13547619977503448382.mp4"}
+{"uid":"5419730284491827550","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room. 2- Place the snack packet on the black table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e","video":"18239842968371370047.mp4"}
+{"uid":"4346898789811842263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9482960447677302165.mp4"}
+{"uid":"15488845961270025620","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow candy on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow candy on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter 4- close the drawer 5- exit the room 6- put the yellow candy on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter 4- close the drawer 5- exit the room 6- put the yellow candy on the paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2255872308312821674.mp4"}
+{"uid":"2992151850680758658","text":"\u003ctask:success:discrete:True\u003e\nGo to the middle table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange chip bag 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange chip bag from the table 2- Leave the room 3- move towards the black table. 4- Place the snack packet on the black table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the middle table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: immediate next step? \u003cPRED\u003eA: Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the orange chip bag from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8945660774045846160.mp4"}
+{"uid":"9985428796552619512","text":"\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"5795552743168486218.mp4"}
+{"uid":"9093362854690457380","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo towards the black 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":"6488071078086778769.mp4"}
+{"uid":"2630927427089202767","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13061665163205235834.mp4"}
+{"uid":"7937995460854388025","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go forward in the hallway\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: immediate next step? \u003cPRED\u003eA: Go forward in the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Go forward in the hallway 2- enter the room. 3- move towards the orange packet. 4- Pick the orange chip bag from the table 5- Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go forward in the hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go forward in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo forward in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo forward in the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9019946018776613451.mp4"}
+{"uid":"9111130147357313188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16318542038458243365.mp4"}
+{"uid":"17279593971900330521","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: move towards the black table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the black table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 black table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the black table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the black table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move towards the black table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the black table. 2- done\n\u003c/PRED\u003e","video":"2535760754934613443.mp4"}
+{"uid":"13806471765949310834","text":"\u003ctask:success:discrete:False\u003e\nMove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move away from the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the table 2- enter the room. 3- move towards the orange packet. 4- Pick the orange chip bag from the table 5- Leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the black table 2- enter the room. 3- move towards the orange packet. 4- Pick the orange chip bag from the table 5- Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: immediate next step? \u003cPRED\u003eA: move away from the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the black table\n\u003c/PRED\u003e","video":"1067124170481309235.mp4"}
+{"uid":"14121623951935209517","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book 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":"12215035324494740834.mp4"}
+{"uid":"2211674243165907755","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":"16219174959780995615.mp4"}
+{"uid":"13987692047877150059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7725460403063221352.mp4"}
+{"uid":"18396770125022683892","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move towards the black table 3- Place the  coconut bottle on the black table 4- move away from the black table 5- enter the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"7015339516042809198.mp4"}
+{"uid":"9774222338109487275","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move to the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to 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\nmove to 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: immediate next step? \u003cPRED\u003eA: move to the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the room 2- Pick the orange chip bag from the table 3- Leave the room 4- move towards the black table. 5- Place the snack packet on the black table\n\u003c/PRED\u003e","video":"7611306280833659139.mp4"}
+{"uid":"15442761872320668765","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the coconut bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grasp the coconut bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the coconut bottle 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Grasp the coconut bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the coconut bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the coconut bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the coconut bottle\n\u003c/PRED\u003e","video":"15619484435497699006.mp4"}
+{"uid":"12618314290996464812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut candy in red 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":"11371508739593917445.mp4"}
+{"uid":"942641196120405544","text":"\u003ctask:success:discrete:True\u003e\nGo into the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 into the hallway\n\u003c/PRED\u003e","video":"6414559954804113211.mp4"}
+{"uid":"11740046115591018683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black object 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":"18112630386069200446.mp4"}
+{"uid":"10217305178267342265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door of the freezer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10299488782472846398.mp4"}
+{"uid":"15829673545943583864","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- exit the room 3- put the yellow candy on the paper 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"492765440684612958.mp4"}
+{"uid":"11554507236978402490","text":"\u003ctask:success:discrete:True\u003e\nenter the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e","video":"5261878163796390597.mp4"}
+{"uid":"10164197991975106765","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table 9- wipe the table with the tissue 10- place the tissue on the other side of the table Q: immediate next step? \u003cPRED\u003eA: wipe the table with tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the table with tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: wipe the table with tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the table with tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the table with tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table 9- wipe the table with the tissue 10- place the tissue on the other side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the table with tissue 2- close the yellow packet 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the table with tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10562863060220368690.mp4"}
+{"uid":"1667050885479823216","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- Leave the room 3- move towards the black table. 4- Place the snack packet on the black table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2959435579877652597.mp4"}
+{"uid":"9159231347618251028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the hint bottle in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1839309221777085546.mp4"}
+{"uid":"17940052641449652229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange packet off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2012844283172127650.mp4"}
+{"uid":"5995214536106470477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12431103709344457092.mp4"}
+{"uid":"11887274022013843368","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. Q: immediate next step? \u003cPRED\u003eA: Pick up the orange snack packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange snack packet from the table 2- Leave the room 3- move towards the black table. 4- Place the snack packet on the black table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange snack packet 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 snack packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange snack packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Pick up the orange snack packet 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 snack packet from the table\n\u003c/PRED\u003e","video":"10650090463242561704.mp4"}
+{"uid":"11531796256851397466","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Move towards the black table 3- Place the  coconut bottle on the black table 4- move away from the black table 5- enter the room.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"7303421243847192198.mp4"}
+{"uid":"10768631548051303795","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coconut bottle on the left black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Place the coconut bottle on the left black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coconut bottle on the left black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 coconut bottle on the left black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coconut bottle on the left black table 2- move away from the black table 3- enter the room. 4- move towards the orange packet. 5- Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: immediate next step? \u003cPRED\u003eA: Place the coconut bottle on the left black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the coconut bottle on the left black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7888573300480328697.mp4"}
+{"uid":"4194077276174460227","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the orange snack packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the orange snack packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the orange snack packet 2- Leave the room 3- move towards the black table. 4- Place the snack packet on the black table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the orange snack packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move towards the orange snack packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: immediate next step? \u003cPRED\u003eA: Move towards the orange snack packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the orange snack packet\n\u003c/PRED\u003e","video":"6053852657048867600.mp4"}
+{"uid":"14231171068791622206","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coconut bottle on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coconut bottle on the black table 2- move away from the black table 3- enter the room. 4- move towards the orange packet. 5- Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: immediate next step? \u003cPRED\u003eA: drop the coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the coconut bottle on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: drop the coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coconut bottle on the black table\n\u003c/PRED\u003e","video":"8595914279649895152.mp4"}
+{"uid":"2151805988381743607","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book 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":"14411939625597284476.mp4"}
+{"uid":"6152337920497704425","text":"\u003ctask:success:discrete:True\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e","video":"6076115433587435080.mp4"}
+{"uid":"16404256044383412422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass on existing glass stack 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":"6205917127559734082.mp4"}
+{"uid":"17564073082781887453","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the orange packet.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the orange packet. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8623377194745461103.mp4"}
+{"uid":"15859512914016191322","text":"\u003ctask:success:discrete:True\u003e\nMove ahead Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 ahead\n\u003c/PRED\u003e","video":"16060435970519414686.mp4"}
+{"uid":"4920184812296671026","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book 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: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book 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 book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the shelf 2- place the book in the shelf 3- open the yellow packet 4- pull the tissue from the packet 5- place the tissue on the table\n\u003c/PRED\u003e","video":"3507982637757053748.mp4"}
+{"uid":"12288596200283568779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the oatmeal pack in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7875034537311002197.mp4"}
+{"uid":"10695340459445708275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13751925824421517093.mp4"}
+{"uid":"4126542323704659134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1226723163545135178.mp4"}
+{"uid":"4491031074227449491","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the left black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- Move to the left black table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- Move to the left black table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the left black 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":"2829177441201796844.mp4"}
+{"uid":"10916668639094237629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11428945575099276632.mp4"}
+{"uid":"16028171267869144589","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: immediate next step? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the black table 2- Place the  coconut bottle on the black table 3- move away from the black table 4- enter the room. 5- move towards the orange packet.\n\u003c/PRED\u003e","video":"10893005614445444423.mp4"}
+{"uid":"6054052193477791517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1622101807877395399.mp4"}
+{"uid":"299737280455204283","text":"\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"16190686016366287361.mp4"}
+{"uid":"1610520466686024942","text":"\u003ctask:success:discrete:False\u003e\nplace the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- wipe the table with the tissue 3- place the tissue on the other side of the table 4- wipe the table with tissue 5- close the yellow packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14480561388768214139.mp4"}
+{"uid":"3632448545935133287","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put the yellow candy on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter 4- close the drawer 5- exit the room Q: immediate next step? \u003cPRED\u003eA: put the yellow candy on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer 2- pick up the yellow candy 3- place the yellow candy on the counter 4- close the drawer 5- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy on the paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5860326665592304731.mp4"}
+{"uid":"15229981648837068974","text":"\u003ctask:success:discrete:False\u003e\nplace the book 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: Clean up the library. last 20 steps: 1- close the book Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the shelf 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- open the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book 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 book in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book Q: immediate next step? \u003cPRED\u003eA: place the book in the shelf\n\u003c/PRED\u003e","video":"5599334330964948743.mp4"}
+{"uid":"10952652756578792240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"16232713153753414930.mp4"}
+{"uid":"4353734964818996412","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17906553607447043431.mp4"}
+{"uid":"5377821859709718199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up 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":"3082157321580512410.mp4"}
+{"uid":"9687101876560662941","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move away from the coconut bottle.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the coconut bottle.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the coconut bottle. 2- enter the room. 3- move towards the orange packet. 4- Pick the orange chip bag from the table 5- Leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table Q: immediate next step? \u003cPRED\u003eA: move away from the coconut bottle.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the coconut 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\nmove away from the coconut bottle. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the coconut bottle.\n\u003c/PRED\u003e","video":"5536573796139145237.mp4"}
+{"uid":"16099180053792124757","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the coconut bottle on the black 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":"1524672052110564082.mp4"}
+{"uid":"3298350962823954219","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the left black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 left black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the left black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the left black table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move to the left black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: immediate next step? \u003cPRED\u003eA: Move to the left black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the left black table\n\u003c/PRED\u003e","video":"2293925941665700433.mp4"}
+{"uid":"10569886630144920868","text":"\u003ctask:success:discrete:True\u003e\nplace the coconut 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the coconut bottle on the table.\n\u003c/PRED\u003e","video":"2696818364364041478.mp4"}
+{"uid":"1985873319642653725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15817077255741246297.mp4"}
+{"uid":"13766185429681277493","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":"4967304890883942721.mp4"}
+{"uid":"12910029702034893651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the stick from 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":"17036360478571988794.mp4"}
+{"uid":"1695498548999034873","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the black 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":"266080800538174275.mp4"}
+{"uid":"6452025868285807756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink sugar 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":"7884970482221070859.mp4"}
+{"uid":"4442176560839041239","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- move towards the black table. 3- Place the snack packet on the black table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave 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","video":"5278491312803311355.mp4"}
+{"uid":"17805608997344881509","text":"\u003ctask:success:discrete:True\u003e\nmove away from the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the black table\n\u003c/PRED\u003e","video":"10051833202493828884.mp4"}
+{"uid":"7775004696520826260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18014374175603849219.mp4"}
+{"uid":"17655472214802599066","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":"15098704779106499459.mp4"}
+{"uid":"10429211455388709598","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Place the snack packet on the black table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9720103633090489255.mp4"}
+{"uid":"6622314564584449831","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the orange snack packet on the middle table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the orange snack packet on the middle 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":"7503725209460625629.mp4"}
+{"uid":"13310012126467339395","text":"\u003ctask:success:discrete:True\u003e\nMove out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e","video":"1549656954133798192.mp4"}
+{"uid":"4082083177455499857","text":"\u003ctask:success:discrete:False\u003e\nGo straight in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo straight in the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 straight in the hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go straight in the hallway\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go straight in the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Go straight in the hallway 2- Place the  coconut bottle on the black table 3- move away from the black table 4- enter the room. 5- move towards the orange packet.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: immediate next step? \u003cPRED\u003eA: Go straight in the hallway\n\u003c/PRED\u003e","video":"16387367899391773667.mp4"}
+{"uid":"18133133628655591582","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the snack packet on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- Place the snack packet on the black table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- Place the snack packet on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the snack packet on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15898439644083381784.mp4"}
+{"uid":"4421532321958993079","text":"\u003ctask:success:discrete:False\u003e\ngo to the coconut bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the coconut bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go to the coconut bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the coconut bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go to the coconut bottle 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: go to the coconut bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the coconut bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4873883924868010964.mp4"}
+{"uid":"15255959482029279329","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":"14132070775117557567.mp4"}
+{"uid":"3433527907600758074","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":"13377780548933686967.mp4"}
+{"uid":"4477943406453539210","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":"6389257834867430094.mp4"}
+{"uid":"7369016592349061656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13100583260876252174.mp4"}
+{"uid":"17953671436106843567","text":"\u003ctask:success:discrete:False\u003e\nPlace the coconut bottle on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coconut bottle on the black table 2- move away from the black table 3- enter the room. 4- move towards the orange packet. 5- Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coconut bottle on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table Q: immediate next step? \u003cPRED\u003eA: Place the coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Place the coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coconut bottle on the black table\n\u003c/PRED\u003e","video":"13702927131557336696.mp4"}
+{"uid":"15361225173329626114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8796787264125442521.mp4"}
+{"uid":"16521715786113676388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl 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":"12133526375415319371.mp4"}
+{"uid":"11097433653688800260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper cups in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8019673871360917241.mp4"}
+{"uid":"7307637044716772230","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the orange chip bag 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":"8995041806103469075.mp4"}
+{"uid":"13719571839756555858","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the  coconut bottle on the black table 2- move away from the black table 3- enter the room. 4- move towards the orange packet. 5- Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table Q: immediate next step? \u003cPRED\u003eA: Place the  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the  coconut bottle on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the  coconut bottle on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Place the  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the  coconut bottle on the black table\n\u003c/PRED\u003e","video":"11881677148976224165.mp4"}
+{"uid":"9754268602713781648","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: pick up the coconut bottle from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the coconut bottle from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the coconut bottle from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the coconut bottle from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the coconut bottle from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the coconut bottle from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the coconut bottle from the table. 2- exit the room 3- Move towards the black table 4- Place the  coconut bottle on the black table 5- move away from the black table\n\u003c/PRED\u003e","video":"16173108538158822837.mp4"}
+{"uid":"11869328570197053884","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":"13774052361832851120.mp4"}
+{"uid":"14740485102449176738","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table 9- wipe the table with the tissue 10- place the tissue on the other side of the table 11- wipe the table with tissue Q: immediate next step? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table 9- wipe the table with the tissue 10- place the tissue on the other side of the table 11- wipe the table with tissue Q: next 5 steps? \u003cPRED\u003eA: 1- close the yellow packet 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe the table with tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the table with tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11163439952328455542.mp4"}
+{"uid":"9106770924614892815","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet on the black table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet on the black table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: place the orange packet on the black table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet on the black table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet on the black table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: immediate next step? \u003cPRED\u003eA: place the orange packet on the black table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet on the black table. 2- done\n\u003c/PRED\u003e","video":"13165622895635292314.mp4"}
+{"uid":"17635124807554336966","text":"\u003ctask:success:discrete:True\u003e\nplace the tissue on the other side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue on the other side of the table\n\u003c/PRED\u003e","video":"9026120683314369039.mp4"}
+{"uid":"8107319959200605957","text":"\u003ctask:success:discrete:False\u003e\nPick up the coconut bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the coconut bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the coconut bottle 2- Move towards the black table 3- Place the  coconut bottle on the black table 4- move away from the black table 5- enter the room.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Pick up the coconut bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the coconut bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the coconut bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the coconut bottle\n\u003c/PRED\u003e","video":"6235682875541883286.mp4"}
+{"uid":"8056755901645284861","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the coconut bottle 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the coconut bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the coconut bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the coconut bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the coconut bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: move to the coconut bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the coconut bottle\n\u003c/PRED\u003e","video":"8878585907745129311.mp4"}
+{"uid":"184295042760467160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14261243711504949478.mp4"}
+{"uid":"2113427019127507446","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet 2- move towards the black table. 3- Place the snack packet on the black table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e","video":"1505668808267282910.mp4"}
+{"uid":"7566726645419218928","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- move towards the black table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the black table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the black 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- move towards the black table. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13599992400563217870.mp4"}
+{"uid":"7626196529199766445","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room.\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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the stand in center Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: enter the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room. 2- Pick the orange chip bag from the table 3- Leave the room 4- move towards the black table. 5- Place the snack packet on the black table\n\u003c/PRED\u003e","video":"16430629883038343389.mp4"}
+{"uid":"10894405192103392820","text":"\u003ctask:success:discrete:True\u003e\nGo straight in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 straight in the hallway\n\u003c/PRED\u003e","video":"2180812610279098402.mp4"}
+{"uid":"15222416204560328031","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":"3709196651598007654.mp4"}
+{"uid":"15656268894324238125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the red bowl 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":"8589962805554197193.mp4"}
+{"uid":"7764413595126630816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet 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":"4991889203238672140.mp4"}
+{"uid":"1317025235201988171","text":"\u003ctask:success:discrete:True\u003e\nmove to the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the room\n\u003c/PRED\u003e","video":"16360849025373183989.mp4"}
+{"uid":"17600989346925208287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10090522686473756403.mp4"}
+{"uid":"13683062857086973184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"8162581099333992112.mp4"}
+{"uid":"14963598673175826197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Move ahead 2- move towards the orange packet. 3- Pick the orange chip bag from the table 4- Leave the room 5- move towards the black table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table Q: immediate next step? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove ahead Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 ahead\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move ahead\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove ahead Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3978494097377739693.mp4"}
+{"uid":"13713092663233094528","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the coconut bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the coconut bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5127506709370666913.mp4"}
+{"uid":"2406535248437571160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2662314589596684358.mp4"}
+{"uid":"13617613896919650113","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the black table 2- move away from the black table 3- enter the room. 4- move towards the orange packet. 5- Pick the orange chip bag from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room Q: immediate next step? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1973874895644924397.mp4"}
+{"uid":"5726790075806228391","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: pick up the coconut bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the coconut bottle 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the coconut bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the coconut bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the coconut bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the coconut bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the coconut bottle\n\u003c/PRED\u003e","video":"16212903991166500443.mp4"}
+{"uid":"16083673729437513637","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":"9141120100675851975.mp4"}
+{"uid":"9830269715360858881","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the orange snack packet on the middle table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the orange snack packet on the middle table 2- Leave the room 3- move towards the black table. 4- Place the snack packet on the black table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go to the orange snack packet on the middle table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the orange snack packet on the middle table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. Q: immediate next step? \u003cPRED\u003eA: Go to the orange snack packet on the middle table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the orange snack packet on the middle table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the orange snack packet on the middle table\n\u003c/PRED\u003e","video":"2835244043679566833.mp4"}
+{"uid":"2772495726051989003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14613119856305715999.mp4"}
+{"uid":"11947415117830111193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut red book horizentally on blue book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11263418984971015424.mp4"}
+{"uid":"14817574347283489006","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet on the black table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange packet on the black table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- place the orange packet on the black table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- place the orange packet on the black table. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7801271894348011673.mp4"}
+{"uid":"1924871470983029047","text":"\u003ctask:success:discrete:False\u003e\nwipe the table with the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the table with the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the table with the tissue 2- place the tissue on the other side of the table 3- wipe the table with tissue 4- close the yellow packet 5- done\n\u003c/PRED\u003e","video":"17959740961151008773.mp4"}
+{"uid":"15407478973093507348","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue on the other side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe the table with the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue on the other side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on the other side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table 9- wipe the table with the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the other side of the table 2- wipe the table with tissue 3- close the yellow packet 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue on the other side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: place the tissue on the other side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet 7- pull the tissue from the packet 8- place the tissue on the table 9- wipe the table with the tissue Q: immediate next step? \u003cPRED\u003eA: place the tissue on the other side of the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e","video":"7233267557192371177.mp4"}
+{"uid":"3278649804989963893","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the room 2- Pick the orange chip bag from the table 3- Leave the room 4- move towards the black table. 5- Place the snack packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e","video":"16787321868060033925.mp4"}
+{"uid":"6629766709628317319","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: immediate next step? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo towards the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the black table 2- done\n\u003c/PRED\u003e","video":"2830948156205240626.mp4"}
+{"uid":"15787881124899109363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1071953348868892637.mp4"}
+{"uid":"3006940579594084099","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow 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: I am hungry can you get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow candy 2- place the yellow candy on the counter 3- close the drawer 4- exit the room 5- put the yellow candy on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow 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","video":"3241505490871315952.mp4"}
+{"uid":"9652847793973442950","text":"\u003ctask:success:discrete:True\u003e\npick up the coconut bottle from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the coconut bottle from the table.\n\u003c/PRED\u003e","video":"8905361091206895315.mp4"}
+{"uid":"15853303200876711758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plastic knife in black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10961549131843110408.mp4"}
+{"uid":"14792102647146933580","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the black table 2- Place the snack packet on the black table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo towards the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo towards the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 towards the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the black table\n\u003c/PRED\u003e","video":"16103141803795613180.mp4"}
+{"uid":"15312732696761964434","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12300318651151961303.mp4"}
+{"uid":"15827970365649648834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a white 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":"12849976892606951876.mp4"}
+{"uid":"10216560547959685276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"95519657376051319.mp4"}
+{"uid":"16462917186585001131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14615306459331184622.mp4"}
+{"uid":"15583779690968065815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove out of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove out of 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move out of the room 2- Move towards the black table 3- Place the  coconut bottle on the black table 4- move away from the black table 5- enter the room.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e","video":"17436573436141514569.mp4"}
+{"uid":"3956503489101202317","text":"\u003ctask:success:discrete:True\u003e\nMove towards the orange snack packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the orange snack packet\n\u003c/PRED\u003e","video":"17033111361432770019.mp4"}
+{"uid":"5937372347337980769","text":"\u003ctask:success:discrete:True\u003e\nGo to the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e","video":"3459547936435138114.mp4"}
+{"uid":"13502602913186590044","text":"\u003ctask:success:discrete:True\u003e\nPick up the coconut bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the coconut bottle from the table\n\u003c/PRED\u003e","video":"10922491957922432053.mp4"}
+{"uid":"11883158320824067019","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Place the snack packet on the black table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLeave 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\nLeave 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: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"4395084721302631194.mp4"}
+{"uid":"12424979001891255122","text":"\u003ctask:success:discrete:True\u003e\nMove out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e","video":"2289328376579915830.mp4"}
+{"uid":"15900825221070624021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the brush from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14958449161420402991.mp4"}
+{"uid":"6192780573124811231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17740860816112467116.mp4"}
+{"uid":"15649787734192896240","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet Q: immediate next step? \u003cPRED\u003eA: pull the tissue from the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the library. last 20 steps: 1- close the book 2- place the book in the shelf 3- place the book in the shelf 4- place the book in the shelf 5- place the book in the shelf 6- open the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tissue from the packet 2- place the tissue on the table 3- wipe the table with the tissue 4- place the tissue on the other side of the table 5- wipe the table with tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the tissue from the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the library. Q: immediate next step? \u003cPRED\u003eA: pull the tissue from the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tissue from the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tissue from the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tissue from the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13033843256936977639.mp4"}
+{"uid":"11845170382787863227","text":"\u003ctask:success:discrete:True\u003e\nMove towards the black 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 black table\n\u003c/PRED\u003e","video":"5641508908934837472.mp4"}
+{"uid":"5146120346121827207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"914806681235237964.mp4"}
+{"uid":"244476695071498855","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange snack packet on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange snack packet on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- move towards the black table. Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange snack packet on the black table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange snack packet on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. Q: immediate next step? \u003cPRED\u003eA: Put the orange snack packet on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chips and coconut water from the desk and bring it to the coffee table by the sofa. last 20 steps: 1- Pick up the coconut bottle from the table 2- move away from the table 3- exit the room 4- Move towards the black table 5- Place the  coconut bottle on the black table 6- move away from the black table 7- enter the room. 8- move towards the orange packet. 9- Pick the orange chip bag from the table 10- Leave the room 11- move towards the black table. Q: immediate next step? \u003cPRED\u003eA: Put the orange snack packet on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange snack packet on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14431544845882894801.mp4"}
+{"uid":"3268181363629238245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14988677899853514385.mp4"}
+{"uid":"15971557759075187166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"14942315754640215122.mp4"}
+{"uid":"10715468650235966826","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":"10874295554164825042.mp4"}
+{"uid":"5647495804670433384","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":"14636355881834822393.mp4"}
+{"uid":"9586873156082120919","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":"14805507185692910958.mp4"}
+{"uid":"12147292239837543172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit 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":"11514751636136372557.mp4"}
+{"uid":"14826408259189001773","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in big 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 blue marker in big pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in big 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue marker in big pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the blue marker in big pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in big pen holder 2- put pink marker in the holder 3- put blue pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put the red pen in the smaller pen holder\n\u003c/PRED\u003e","video":"9436556172439956460.mp4"}
+{"uid":"9517215569069009688","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cylindrical holder 2- put red pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"10767330927335285949.mp4"}
+{"uid":"13485582866924360317","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder Q: immediate next step? \u003cPRED\u003eA: put blue marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in the rectangular stand 2- put green marker in the holder 3- put pink marker in the holder 4- put blue pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in the rectangular 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":"12204585843133072316.mp4"}
+{"uid":"5155266269111964098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cylindrical holder 2- put blue pen in the cylindrical holder 3- put red pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"14365573423736803421.mp4"}
+{"uid":"15457712801320044390","text":"\u003ctask:success:discrete:False\u003e\nput 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 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- put small sticky notes into the holder 3- Put tape box in the holder 4- Put green marker in the holder 5- put yellow marker in the holder 6- put pink marker in the holder 7- put blue marker in the holder 8- put green marker in the holder 9- put pink marker in the holder 10- put blue pen in the cylindrical holder 11- put blue pen in the cylindrical holder 12- put the red pen in the smaller pen holder 13- put red pen in the cylindrical holder 14- put blue pen in the cylindrical holder 15- move pens towards the holder 16- put blue pen in the cylindrical holder 17- put red pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put red pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- put small sticky notes into the holder 3- Put tape box in the holder 4- Put green marker in the holder 5- put yellow marker in the holder 6- put pink marker in the holder 7- put blue marker in the holder 8- put green marker in the holder 9- put pink marker in the holder 10- put blue pen in the cylindrical holder 11- put blue pen in the cylindrical holder 12- put the red pen in the smaller pen holder 13- put red pen in the cylindrical holder 14- put blue pen in the cylindrical holder 15- move pens towards the holder 16- put blue pen in the cylindrical holder 17- put red pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put red pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put black clip in the frontside of the holder 3- put black clip in the frontside of the holder 4- done\n\u003c/PRED\u003e","video":"136153701068203494.mp4"}
+{"uid":"16950860014024351242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tong 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":"3435648313842876580.mp4"}
+{"uid":"722413039680022073","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":"17425942808600160883.mp4"}
+{"uid":"13856218114641771719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the sanitizer bottle in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7911099413007029147.mp4"}
+{"uid":"4241321462757585503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16291969295244361551.mp4"}
+{"uid":"1271503938845676705","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the cylindrical 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 red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the cylindrical holder 2- put red pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- move pens towards the holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the cylindrical 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":"17006013960877065703.mp4"}
+{"uid":"12789681742019065416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the book 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":"9744042656359327342.mp4"}
+{"uid":"17472885187688723987","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cylindrical 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cylindrical holder 2- put red pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put black clip in the frontside of the holder 5- put black clip in the frontside of the holder\n\u003c/PRED\u003e","video":"14023773152498927286.mp4"}
+{"uid":"16585219246466387608","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":"17737603417998984946.mp4"}
+{"uid":"16031467102764541844","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 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 orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the pen stand 2- put blue pen in the cylindrical holder 3- move pens towards the holder 4- put blue pen in the cylindrical holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e","video":"15122877336234602790.mp4"}
+{"uid":"11179451864285169674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13903831706722898728.mp4"}
+{"uid":"6380155144839881986","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\u003ctask:affordance:discriminative:discrete:False\u003e\nplace scissor 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":"11120365561289127644.mp4"}
+{"uid":"3633335511560298984","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put blue pen in the cylindrical holder 3- put the red pen in the smaller pen holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\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: Organize supplies into the caddy 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: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":"4774306975274816237.mp4"}
+{"uid":"1846563444383387288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the container 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":"17027557221970831178.mp4"}
+{"uid":"15360241347732553727","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder 6- put blue marker in the holder 7- put green marker in the holder 8- put pink marker in the holder 9- put blue pen in the cylindrical holder 10- put blue pen in the cylindrical holder 11- put the red pen in the smaller pen holder 12- put red pen in the cylindrical holder 13- put blue pen in the cylindrical holder 14- move pens towards the holder 15- put blue pen in the cylindrical holder 16- put red pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put red pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black clip in the frontside of the holder 2- put black clip in the frontside of the holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black clip in the frontside of 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: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder 6- put blue marker in the holder 7- put green marker in the holder 8- put pink marker in the holder 9- put blue pen in the cylindrical holder 10- put blue pen in the cylindrical holder 11- put the red pen in the smaller pen holder 12- put red pen in the cylindrical holder 13- put blue pen in the cylindrical holder 14- move pens towards the holder 15- put blue pen in the cylindrical holder 16- put red pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put red pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black clip in the frontside of 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 black clip in the frontside of the holder\n\u003c/PRED\u003e","video":"15900956228709179114.mp4"}
+{"uid":"9731775535920273103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"663254839859157050.mp4"}
+{"uid":"7295556677356859461","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink marker in big 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 pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink marker in big pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker in big pen holder 2- put blue marker in the holder 3- put green marker in the holder 4- put pink marker in the holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"14622500620759860996.mp4"}
+{"uid":"16090043709358051995","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in bigger pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in bigger pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in bigger pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in bigger pen holder 2- put small sticky notes into the holder 3- Put tape box in the holder 4- Put green marker in the holder 5- put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky note in bigger pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in bigger pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the sticky note in bigger pen holder\n\u003c/PRED\u003e","video":"10565453419642330025.mp4"}
+{"uid":"1445127894639019736","text":"\u003ctask:success:discrete:False\u003e\nput the blue object in big 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 blue object in big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue object in big pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue object in big pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue object in big pen holder 2- Put green marker in the holder 3- put yellow marker in the holder 4- put pink marker in the holder 5- put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder Q: immediate next step? \u003cPRED\u003eA: put the blue object in big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue object in big pen holder\n\u003c/PRED\u003e","video":"1944921305990096453.mp4"}
+{"uid":"12418972985548042389","text":"\u003ctask:success:discrete:False\u003e\nput the sticky notes in the rectangular 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 sticky notes in the rectangular 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: Organize supplies into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes in the rectangular stand 2- put small sticky notes into the holder 3- Put tape box in the holder 4- Put green marker in the holder 5- put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e","video":"424474165675953418.mp4"}
+{"uid":"17529889019038328903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"8480920622967332736.mp4"}
+{"uid":"13153374802734881152","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put tape box in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put tape box in the holder 2- Put green marker in the holder 3- put yellow marker in the holder 4- put pink marker in the holder 5- put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut tape box 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 tape box 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder Q: immediate next step? \u003cPRED\u003eA: Put tape box in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: Put tape box in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put tape box in the holder\n\u003c/PRED\u003e","video":"10129698801053932761.mp4"}
+{"uid":"3749502228836245758","text":"\u003ctask:success:discrete:True\u003e\nput pink marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e","video":"9788052871239409535.mp4"}
+{"uid":"281759599389958716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp 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":"4286700305593128193.mp4"}
+{"uid":"17577586875263737739","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in the holder 2- put pink marker in the holder 3- put blue marker in the holder 4- put green marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"472399888103427676.mp4"}
+{"uid":"4451868639444356035","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: Put green marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put green marker in the holder 2- put yellow marker in the holder 3- put pink marker in the holder 4- put blue marker in the holder 5- put green marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder Q: immediate next step? \u003cPRED\u003eA: Put green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put green marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put green marker in the holder\n\u003c/PRED\u003e","video":"16826334036663562331.mp4"}
+{"uid":"574533640383079176","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put tape box in the holder 2- Put green marker in the holder 3- put yellow marker in the holder 4- put pink marker in the holder 5- put blue marker in the holder 6- put green marker in the holder 7- put pink marker in the holder 8- put blue pen in the cylindrical holder 9- put blue pen in the cylindrical holder 10- put the red pen in the smaller pen holder 11- put red pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- move pens towards the holder 14- put blue pen in the cylindrical holder 15- put red pen in the cylindrical holder 16- put blue pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put black clip in the frontside of the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black clip in the frontside of the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black clip in the frontside of 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: Organize supplies into the caddy. last 20 steps: 1- Put tape box in the holder 2- Put green marker in the holder 3- put yellow marker in the holder 4- put pink marker in the holder 5- put blue marker in the holder 6- put green marker in the holder 7- put pink marker in the holder 8- put blue pen in the cylindrical holder 9- put blue pen in the cylindrical holder 10- put the red pen in the smaller pen holder 11- put red pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- move pens towards the holder 14- put blue pen in the cylindrical holder 15- put red pen in the cylindrical holder 16- put blue pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put black clip in the frontside of the holder Q: immediate next step? \u003cPRED\u003eA: put black clip in the frontside of the holder\n\u003c/PRED\u003e","video":"6458069944671141909.mp4"}
+{"uid":"11319986533151226308","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder Q: immediate next step? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the holder 2- put blue pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put the red pen in the smaller pen holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8453664182155394959.mp4"}
+{"uid":"8602773525100366522","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the cylindrical 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 the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red pen in the smaller 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 red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pen in the smaller 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen in the smaller pen holder 2- put blue pen in the cylindrical holder 3- move pens towards the holder 4- put blue pen in the cylindrical holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e","video":"2758982170883134040.mp4"}
+{"uid":"13658216664120521529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen 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":"17259056766118606398.mp4"}
+{"uid":"10546768273927999450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cards 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":"12254519576716514423.mp4"}
+{"uid":"2167891268761825645","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the big pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in the big 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 sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the big pen holder 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the big pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the big 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 sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes in the rectangular stand 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e","video":"17954183932605249425.mp4"}
+{"uid":"171791291568423628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput alphabet tiles 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":"644219009594509445.mp4"}
+{"uid":"4889982701503963616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate 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":"5609951724061142995.mp4"}
+{"uid":"4262278239361394378","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker in big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker in big 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in big pen holder 2- put pink marker in the holder 3- put blue marker in the holder 4- put green marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker in big pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the rectangular stand 2- put yellow marker in the holder 3- put pink marker in the holder 4- put blue marker in the holder 5- put green marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder Q: immediate next step? \u003cPRED\u003eA: put green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker in big 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 green marker in big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the rectangular 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 green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder Q: immediate next step? \u003cPRED\u003eA: put the green marker in big pen holder\n\u003c/PRED\u003e","video":"5297910768141062691.mp4"}
+{"uid":"10264836679637962248","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder Q: immediate next step? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in the holder 2- put green marker in the holder 3- put pink marker in the holder 4- put blue pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e","video":"10736020659156363271.mp4"}
+{"uid":"13704239106551865434","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the smaller pen holder 2- put blue pen in the cylindrical holder 3- put the red pen in the smaller pen holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the smaller 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 blue pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the smaller pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the smaller pen holder\n\u003c/PRED\u003e","video":"5049608083722389114.mp4"}
+{"uid":"15964786852280642405","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put red pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put black clip in the frontside of the holder 5- put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"9204101618382467685.mp4"}
+{"uid":"2198363369363270997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue highlighter in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5785824126879364301.mp4"}
+{"uid":"5685563063300355313","text":"\u003ctask:success:discrete:False\u003e\nadjust the big 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: Organize supplies into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the big pen holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the big pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: adjust the big pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the big pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: adjust the big pen holder\n\u003c/PRED\u003e","video":"11726201323652657560.mp4"}
+{"uid":"6201850808600162064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet 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":"17150891488804083420.mp4"}
+{"uid":"1639804102440712981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate 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":"2632709562646402303.mp4"}
+{"uid":"4174713152761465050","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":"13811911270361082207.mp4"}
+{"uid":"4626604609839139577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"172747184100567738.mp4"}
+{"uid":"1810530402131950394","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: put green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the rectangular 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 green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the rectangular stand 2- put pink marker in the holder 3- put blue pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the rectangular stand\n\u003c/PRED\u003e","video":"17535755989589229245.mp4"}
+{"uid":"455158156390192843","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cylindrical 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 blue pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cylindrical holder 2- put blue pen in the cylindrical holder 3- put the red pen in the smaller pen holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"1719395920702163389.mp4"}
+{"uid":"7005998788599795944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"741909315430632396.mp4"}
+{"uid":"18283831000162313871","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in smaller pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in smaller pen holder 2- put red pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in smaller pen 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 smaller pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in smaller pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in smaller 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 blue pen in smaller 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":"3762490782939483711.mp4"}
+{"uid":"7546065263456233606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12329079669415380721.mp4"}
+{"uid":"4928191329125782937","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder Q: immediate next step? \u003cPRED\u003eA: put 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put red pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e","video":"15074863736089563826.mp4"}
+{"uid":"839298073346815328","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the tape box in the rectangular stand 2- Put green marker in the holder 3- put yellow marker in the holder 4- put pink marker in the holder 5- put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder Q: immediate next step? \u003cPRED\u003eA: put the tape box in the rectangular stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tape box in the rectangular 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 tape box in the rectangular stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the tape box in the rectangular stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tape box in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tape box in the rectangular 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":"12333292884769014562.mp4"}
+{"uid":"12260539279678643229","text":"\u003ctask:success:discrete:True\u003e\nput 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"17943808090768667957.mp4"}
+{"uid":"11996906532749621024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pea in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17497294317031620723.mp4"}
+{"uid":"17816698636059429675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace two brown packets in \n right brown packet section in 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":"11062194639971365386.mp4"}
+{"uid":"13879875975486742116","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put pink marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder Q: immediate next step? \u003cPRED\u003eA: put pink marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in the rectangular 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 pink marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the rectangular stand 2- put blue pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put the red pen in the smaller pen holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the rectangular 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":"5681229353919651593.mp4"}
+{"uid":"2416950126675585350","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":"15637077057238574146.mp4"}
+{"uid":"172561502951242476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14105406237700861345.mp4"}
+{"uid":"9045547391567411722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue marker in pen stands Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1912611576710030722.mp4"}
+{"uid":"16431058328601560544","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes in the rectangular stand 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes in the rectangular stand\n\u003c/PRED\u003e","video":"15059322225894049106.mp4"}
+{"uid":"14141814582500632134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13048609994377126009.mp4"}
+{"uid":"3413963664598994262","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":"6536039962874687968.mp4"}
+{"uid":"7304654770319330298","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the pen stand 2- put blue pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white bowl out of the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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","video":"1413280671468552385.mp4"}
+{"uid":"7864421166744495064","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in big 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 sticky note in big pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in big pen holder 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky note in big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in big 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder Q: immediate next step? \u003cPRED\u003eA: put the sticky note in big pen holder\n\u003c/PRED\u003e","video":"10087347448375502999.mp4"}
+{"uid":"53713211678960377","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder Q: immediate next step? \u003cPRED\u003eA: put the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pen in the smaller pen 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 smaller pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen in the smaller pen holder 2- move pens towards the holder 3- put blue pen in the cylindrical holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pen in the smaller 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":"7609129561552218184.mp4"}
+{"uid":"9123012249559335708","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the smaller 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 blue pen in the smaller pen holder\n\u003c/PRED\u003e","video":"2539395876577740589.mp4"}
+{"uid":"191274435664437914","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":"15266431562757753114.mp4"}
+{"uid":"11144394257251223046","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put the red pen in the smaller pen holder 3- put red pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- move pens towards the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e","video":"6622581004710245387.mp4"}
+{"uid":"5552625081164086957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKnock the top 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":"7150353365779334602.mp4"}
+{"uid":"13473138214279796133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17325951607251946231.mp4"}
+{"uid":"3753666940694665110","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cylindrical holder 2- put the red pen in the smaller pen holder 3- put red pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- move pens towards the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cylindrical 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":"18173776450611510644.mp4"}
+{"uid":"14371182241930277458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"931355378409184184.mp4"}
+{"uid":"3274698217371363030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12276121876646592113.mp4"}
+{"uid":"15294798191469406519","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- put small sticky notes into the holder 3- Put tape box in the holder 4- Put green marker in the holder 5- put yellow marker in the holder 6- put pink marker in the holder 7- put blue marker in the holder 8- put green marker in the holder 9- put pink marker in the holder 10- put blue pen in the cylindrical holder 11- put blue pen in the cylindrical holder 12- put the red pen in the smaller pen holder 13- put red pen in the cylindrical holder 14- put blue pen in the cylindrical holder 15- move pens towards the holder 16- put blue pen in the cylindrical holder 17- put red pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put red pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- put small sticky notes into the holder 3- Put tape box in the holder 4- Put green marker in the holder 5- put yellow marker in the holder 6- put pink marker in the holder 7- put blue marker in the holder 8- put green marker in the holder 9- put pink marker in the holder 10- put blue pen in the cylindrical holder 11- put blue pen in the cylindrical holder 12- put the red pen in the smaller pen holder 13- put red pen in the cylindrical holder 14- put blue pen in the cylindrical holder 15- move pens towards the holder 16- put blue pen in the cylindrical holder 17- put red pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put red pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cylindrical holder 2- put black clip in the frontside of the holder 3- put black clip in the frontside of the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cylindrical 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 blue pen in the cylindrical 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"11192399073323820911.mp4"}
+{"uid":"8711034979384844981","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the smaller 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 blue pen in the smaller pen 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 smaller pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the smaller pen holder 2- put the red pen in the smaller pen holder 3- put red pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- move pens towards the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the smaller pen holder\n\u003c/PRED\u003e","video":"873196542897455304.mp4"}
+{"uid":"13736216441627661562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace chocolate 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":"3198208876647897842.mp4"}
+{"uid":"17987802579920069944","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker in big pen holder 2- put pink marker in the holder 3- put blue marker in the holder 4- put green marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker in big pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker in big pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker in big 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 yellow marker in big 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":"6429297316403914153.mp4"}
+{"uid":"12750017972652509635","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the rectangular 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in the rectangular stand 2- put pink marker in the holder 3- put blue marker in the holder 4- put green marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e","video":"783846442257788909.mp4"}
+{"uid":"9428291861742777846","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put small sticky notes into the holder 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder Q: immediate next step? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput small sticky notes 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","video":"17348263884498693611.mp4"}
+{"uid":"3178607889756195084","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper clip in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put tape box in the holder 2- Put green marker in the holder 3- put yellow marker in the holder 4- put pink marker in the holder 5- put blue marker in the holder 6- put green marker in the holder 7- put pink marker in the holder 8- put blue pen in the cylindrical holder 9- put blue pen in the cylindrical holder 10- put the red pen in the smaller pen holder 11- put red pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- move pens towards the holder 14- put blue pen in the cylindrical holder 15- put red pen in the cylindrical holder 16- put blue pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put black clip in the frontside of the holder Q: immediate next step? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put tape box in the holder 2- Put green marker in the holder 3- put yellow marker in the holder 4- put pink marker in the holder 5- put blue marker in the holder 6- put green marker in the holder 7- put pink marker in the holder 8- put blue pen in the cylindrical holder 9- put blue pen in the cylindrical holder 10- put the red pen in the smaller pen holder 11- put red pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- move pens towards the holder 14- put blue pen in the cylindrical holder 15- put red pen in the cylindrical holder 16- put blue pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put black clip in the frontside of the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put paper clip in the rectangular tray 2- done\n\u003c/PRED\u003e","video":"8693671959265603972.mp4"}
+{"uid":"5775293325820504093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the illy packet into the tray 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":"10906648051348816205.mp4"}
+{"uid":"8245793686267296683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the glass in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13022967391074254393.mp4"}
+{"uid":"15549247708446947218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2550566979518479843.mp4"}
+{"uid":"8889449354728832412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pillow vertically straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7873679786272104723.mp4"}
+{"uid":"16358557690297998489","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put red pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put black clip in the frontside of the holder 5- put black clip in the frontside of the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"464527763310974957.mp4"}
+{"uid":"8241097308509832878","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder 6- put blue marker in the holder 7- put green marker in the holder 8- put pink marker in the holder 9- put blue pen in the cylindrical holder 10- put blue pen in the cylindrical holder 11- put the red pen in the smaller pen holder 12- put red pen in the cylindrical holder 13- put blue pen in the cylindrical holder 14- move pens towards the holder 15- put blue pen in the cylindrical holder 16- put red pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put red pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put paper clip in the rectangular tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper clip in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- put small sticky notes into the holder 2- Put tape box in the holder 3- Put green marker in the holder 4- put yellow marker in the holder 5- put pink marker in the holder 6- put blue marker in the holder 7- put green marker in the holder 8- put pink marker in the holder 9- put blue pen in the cylindrical holder 10- put blue pen in the cylindrical holder 11- put the red pen in the smaller pen holder 12- put red pen in the cylindrical holder 13- put blue pen in the cylindrical holder 14- move pens towards the holder 15- put blue pen in the cylindrical holder 16- put red pen in the cylindrical holder 17- put blue pen in the cylindrical holder 18- put blue pen in the cylindrical holder 19- put red pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper clip in the rectangular 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper clip in the rectangular tray\n\u003c/PRED\u003e","video":"15783931537309555014.mp4"}
+{"uid":"16393437317747917806","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put 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 orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the pen stand 2- put blue pen in the cylindrical holder 3- move pens towards the holder 4- put blue pen in the cylindrical holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"9665913812312947530.mp4"}
+{"uid":"16118008878659436643","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker in big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker in big 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in big pen holder 2- put pink marker in the holder 3- put blue pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker in big pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the green marker in big pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker in big pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker in big 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":"6397010925485971338.mp4"}
+{"uid":"9739817354887736145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6706512766519070414.mp4"}
+{"uid":"16432686950876888925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the straw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13261493348067437962.mp4"}
+{"uid":"6421171378702892456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the book from the right stack on the book shelf 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":"13965102386051252357.mp4"}
+{"uid":"5858055344108724086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the brown 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":"2404119836394259780.mp4"}
+{"uid":"6997013282530986272","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":"5941162338031673653.mp4"}
+{"uid":"3905469338228644074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5406922411214774264.mp4"}
+{"uid":"1561190624511008433","text":"\u003ctask:success:discrete:True\u003e\nput blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e","video":"15472335870589114649.mp4"}
+{"uid":"14698029740270491811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue ball into the transparent 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\nput the apple 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":"15111773510775234134.mp4"}
+{"uid":"6124559664715622738","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker in big pen holder 2- put blue pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put the red pen in the smaller pen holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the pink marker in big pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink marker in big 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 pink marker in big 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":"15883729795327375016.mp4"}
+{"uid":"1373680767137608154","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- move pens towards the holder 2- put blue pen in the cylindrical holder 3- put red pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: move pens towards the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove pens towards 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\nmove pens towards the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move pens towards the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: move pens towards the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move pens towards the holder\n\u003c/PRED\u003e","video":"721080791704800830.mp4"}
+{"uid":"3461726105773434625","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the holder 2- put blue marker in the holder 3- put green marker in the holder 4- put pink marker in the holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the holder\n\u003c/PRED\u003e","video":"2213036274859204645.mp4"}
+{"uid":"10410336185021647207","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the cylindrical 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 red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the cylindrical holder 2- put blue pen in the cylindrical holder 3- put blue pen in the cylindrical holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"9429319606228941445.mp4"}
+{"uid":"3783451855183786339","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put green marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the holder 2- put pink marker in the holder 3- put blue pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put the red pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: put green marker in the holder\n\u003c/PRED\u003e","video":"442136864904616780.mp4"}
+{"uid":"2733511749515712373","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":"14385317840292751266.mp4"}
+{"uid":"12147119275715341296","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put small sticky notes into the holder 2- put small sticky notes into the holder 3- Put tape box in the holder 4- Put green marker in the holder 5- put yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput small sticky notes 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:True\u003e\nPut the big sticky notes 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:success:discrete:False\u003e\nput small sticky notes 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the big sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: put small sticky notes into the holder\n\u003c/PRED\u003e","video":"5348512191249992404.mp4"}
+{"uid":"15495910602630783799","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the cylindrical holder 2- put blue pen in the cylindrical holder 3- put black clip in the frontside of the holder 4- put black clip in the frontside of the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the cylindrical 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":"14476278476139365378.mp4"}
+{"uid":"8428334261987135713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cardboard 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":"2485179982753112732.mp4"}
+{"uid":"12818085979904190304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the silver object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14927381054772617194.mp4"}
+{"uid":"2345798950018464037","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: put green pink in the rectangular stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green pink in the rectangular stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green pink in the rectangular 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 green pink in the rectangular stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put green pink in the rectangular stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green pink in the rectangular 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put green pink in the rectangular stand 2- put blue marker in the holder 3- put green marker in the holder 4- put pink marker in the holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"18338486175310939311.mp4"}
+{"uid":"1203788895610038672","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cylindrical 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cylindrical holder 2- move pens towards the holder 3- put blue pen in the cylindrical holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cylindrical holder\n\u003c/PRED\u003e","video":"2165778376500233730.mp4"}
+{"uid":"8799390648067931434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1686041707840886782.mp4"}
+{"uid":"14794764095013236357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6539651984143169595.mp4"}
+{"uid":"12575640272011196704","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the cylindrical holder 2- put blue pen in the cylindrical holder 3- move pens towards the holder 4- put blue pen in the cylindrical holder 5- put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the cylindrical 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: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put red pen in the cylindrical holder\n\u003c/PRED\u003e","video":"14519928195009837497.mp4"}
+{"uid":"11523994334872445484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:success:discrete:False\u003e\nput the blue pen in the smaller 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:success:discrete:False\u003e\nput 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the smaller pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- move pens towards the holder 3- put blue pen in the cylindrical holder 4- put red pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the smaller pen holder 2- put blue pen in the cylindrical holder 3- put red pen in the cylindrical holder 4- put blue pen in the cylindrical holder 5- put blue pen in the cylindrical holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 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 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 blue pen in the smaller pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the smaller pen 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 smaller pen holder\n\u003c/PRED\u003e","video":"2259772041083400602.mp4"}
+{"uid":"16429397766080196205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the peach colour packet in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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\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":"14206203404489426873.mp4"}
+{"uid":"13677579910196989741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5578862741437105706.mp4"}
+{"uid":"15099048998515296096","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the pen stand 2- put blue pen in the cylindrical holder 3- put black clip in the frontside of the holder 4- put black clip in the frontside of the holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- Put the big sticky notes in the holder 2- put small sticky notes into the holder 3- put small sticky notes into the holder 4- Put tape box in the holder 5- Put green marker in the holder 6- put yellow marker in the holder 7- put pink marker in the holder 8- put blue marker in the holder 9- put green marker in the holder 10- put pink marker in the holder 11- put blue pen in the cylindrical holder 12- put blue pen in the cylindrical holder 13- put the red pen in the smaller pen holder 14- put red pen in the cylindrical holder 15- put blue pen in the cylindrical holder 16- move pens towards the holder 17- put blue pen in the cylindrical holder 18- put red pen in the cylindrical holder 19- put blue pen in the cylindrical holder 20- put blue pen in the cylindrical holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in the pen stand\n\u003c/PRED\u003e","video":"2628872144983679627.mp4"}
+{"uid":"9459809302328878940","text":"\u003ctask:success:discrete:True\u003e\nput green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker in the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker in the rectangular stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput green marker in the rectangular 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":"9031962118277932036.mp4"}
+{"uid":"13483395814935523281","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup 3- put cup on the table 4- put brown napkin on the table 5- put spoon on the napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon on the napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup 3- put cup on the table 4- put brown napkin on the table 5- put spoon on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18059844339911607968.mp4"}
+{"uid":"5077307855516104477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo away from the brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6098010870917995684.mp4"}
+{"uid":"18395649581664580755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8573351453717720723.mp4"}
+{"uid":"15820251492581584980","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: place the plate in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the plate in the sink 2- place the cup in the sink 3- unstack the bowl 4- place the bowl in the sink 5- place the bowl in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plate in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the plate in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plate in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plate in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 plate in the sink\n\u003c/PRED\u003e","video":"13542416450500029446.mp4"}
+{"uid":"12327114063359869712","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet 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":"17898095855694747030.mp4"}
+{"uid":"15377412770886663533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black 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":"2653981165981496776.mp4"}
+{"uid":"8000542030467925219","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown packet from the table 2- Place the packet into the tray 3- Place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e","video":"8221731873342169979.mp4"}
+{"uid":"14135067238821831683","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"5171395261004929315.mp4"}
+{"uid":"12364795112560283077","text":"\u003ctask:success:discrete:False\u003e\ndrop the brown 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown packet into the basket 2- Pick the packet 3- Place the packet into the tray 4- Pick the packet 5- pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: drop the brown packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown 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 all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: drop the brown packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown packet into the basket\n\u003c/PRED\u003e","video":"11884132556484533351.mp4"}
+{"uid":"6827636672443779816","text":"\u003ctask:success:discrete:True\u003e\npick up the brown packet 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 brown packet from the table\n\u003c/PRED\u003e","video":"5997518609391135661.mp4"}
+{"uid":"17210627830229415027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17690654782329260180.mp4"}
+{"uid":"16431989935565314752","text":"\u003ctask:success:discrete:True\u003e\ntake the brown packet from the table and place in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the brown packet from the table and place in the container\n\u003c/PRED\u003e","video":"7234602652800724834.mp4"}
+{"uid":"10114117821234621111","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick 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:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e","video":"9593071751786632006.mp4"}
+{"uid":"7595614729351489832","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green 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:success:discrete:False\u003e\ndrop the green 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green packet into the basket 2- Place the packet into the tray 3- Pick the packet 4- Place the packet into the tray 5- Pick the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet Q: immediate next step? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e","video":"9417225517267035040.mp4"}
+{"uid":"5610083549567614066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  the cup up straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7304436727389795691.mp4"}
+{"uid":"843341332772271511","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":"8491575540946365878.mp4"}
+{"uid":"9287487318945024229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the scoop into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11135249269306096297.mp4"}
+{"uid":"15480179527145826584","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet 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 packet 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: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Pick the packet 3- pick up the brown packet from the table 4- Place the packet into the tray 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"17139134988291608456.mp4"}
+{"uid":"1239703665065970851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen near the ash pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2012074015705804979.mp4"}
+{"uid":"13170167338845279064","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5649587070490165203.mp4"}
+{"uid":"16478845300261392305","text":"\u003ctask:success:discrete:True\u003e\nPlace the packet 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 packet into the tray\n\u003c/PRED\u003e","video":"8966237337997602358.mp4"}
+{"uid":"12450018314770522740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12988997295907350564.mp4"}
+{"uid":"14182394673506626208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace black white in black 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":"16787776548933056792.mp4"}
+{"uid":"10717231905485978251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy  in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2757427215504554773.mp4"}
+{"uid":"140724063638564188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a dry fruit 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":"16398505744841136298.mp4"}
+{"uid":"381770369739253147","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown napkin on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: put brown napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup 3- put cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown napkin on the table 2- put spoon on the napkin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup 3- put cup on the table Q: immediate next step? \u003cPRED\u003eA: put brown napkin on the table\n\u003c/PRED\u003e","video":"8104513527422698749.mp4"}
+{"uid":"14857950213806585106","text":"\u003ctask:success:discrete:False\u003e\nPlace the packet 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: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet 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: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"12780594835685473648.mp4"}
+{"uid":"16256353499823313397","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet in the container 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet in the container\n\u003c/PRED\u003e","video":"15212517399600593603.mp4"}
+{"uid":"5742770774760856765","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put tray in edge of the drawer 3- pick up the yellow candy 4- close drawer 5- exit the room with the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17250876172174724790.mp4"}
+{"uid":"11414907738153749806","text":"\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- place the bowl in the sink 3- place the bowl in the sink 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"187905015728638267.mp4"}
+{"uid":"1292810931884186743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4952275499365614605.mp4"}
+{"uid":"11696074503943614277","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put tray in edge of the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tray in edge of the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tray in edge 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tray in edge of the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tray in edge 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer Q: immediate next step? \u003cPRED\u003eA: put tray in edge of the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tray in edge of the drawer 2- pick up the yellow candy 3- close drawer 4- exit the room with the candy 5- done\n\u003c/PRED\u003e","video":"14071208934982719289.mp4"}
+{"uid":"8424055459405041173","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":"15096903245606719629.mp4"}
+{"uid":"17564996710329187543","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green 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:affordance:discriminative:discrete:True\u003e\ndrop the green 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green packet into the basket 2- Pick the packet 3- pick up the brown packet from the table 4- Place the packet into the tray 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet Q: immediate next step? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: drop the green packet into the basket\n\u003c/PRED\u003e","video":"1495438359901742661.mp4"}
+{"uid":"17178276963602290171","text":"\u003ctask:success:discrete:True\u003e\nPlace the packet 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 packet into the tray\n\u003c/PRED\u003e","video":"8913103783363636064.mp4"}
+{"uid":"14531168602338040073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12147216497170868545.mp4"}
+{"uid":"8661855947486977031","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- put brown napkin on the table 3- put spoon on the napkin 4- done\n\u003c/PRED\u003e","video":"2356839339833152376.mp4"}
+{"uid":"10468244233992910662","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the crunch chips packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the crunch chips packet 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":"7140682048020485351.mp4"}
+{"uid":"5403862004014432733","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6063422091791645655.mp4"}
+{"uid":"5029126157517989384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7648662143912764350.mp4"}
+{"uid":"13268870616227903619","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green packet 2- Place the packet into the tray 3- Pick the packet 4- pick up the brown packet from the table 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e","video":"2664457460817020237.mp4"}
+{"uid":"2703094772109020472","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":"15406281176742910887.mp4"}
+{"uid":"10467580391865858508","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink 3- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl in the sink 2- place the bowl in the sink 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: place the bowl in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 bowl in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 bowl in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink 3- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl in the sink\n\u003c/PRED\u003e","video":"15254619539985840397.mp4"}
+{"uid":"8185537155353329927","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet 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: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Pick the packet 3- Place the packet into the tray 4- Pick the packet 5- pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"848975151501446408.mp4"}
+{"uid":"16426977581479539438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4998865108543837390.mp4"}
+{"uid":"10604998745884514819","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open refrigerator 2- pick up the cup 3- put cup on the table 4- put brown napkin on the table 5- put spoon on the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e","video":"16247418457169140377.mp4"}
+{"uid":"7278689873478908315","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet 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":"13052178371425443489.mp4"}
+{"uid":"9761745281884808251","text":"\u003ctask:success:discrete:True\u003e\npick up the green packet 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 green packet from the table\n\u003c/PRED\u003e","video":"7915995566977493149.mp4"}
+{"uid":"3831452470891755117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the second left houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2119998749411230943.mp4"}
+{"uid":"593772252995725388","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room with the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer 4- pick up the yellow candy 5- close drawer 6- exit the room with the candy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer 4- pick up the yellow candy 5- close drawer 6- exit the room with the candy Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7442719413047607328.mp4"}
+{"uid":"15206219883638352455","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Place the packet into the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet 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 packet 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":"11285674444891075968.mp4"}
+{"uid":"10629397585910119214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15303409530146052086.mp4"}
+{"uid":"12412594410435240891","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":"16510239471514943312.mp4"}
+{"uid":"4566180675087748370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13135330395971939463.mp4"}
+{"uid":"13073023308173969616","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the packet 2- pick up the brown packet from the table 3- Place the packet into the tray 4- Place the packet into the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e","video":"13657765186255712788.mp4"}
+{"uid":"8052463673083241586","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the brown packet from the table and place in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the brown packet from the table and place in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- take the brown packet from the table and place in the container 2- Pick the packet 3- Place the packet into the tray 4- Pick the packet 5- pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the brown packet from the table and place in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: take the brown packet from the table and place in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: take the brown packet from the table and place in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the brown packet from the table and place in the container\n\u003c/PRED\u003e","video":"978658755212602.mp4"}
+{"uid":"12694816289168922324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11281060589853187884.mp4"}
+{"uid":"8954931989665136066","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow candy 2- close drawer 3- exit the room with the candy 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput green 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow 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: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the yellow candy\n\u003c/PRED\u003e","video":"11539267281208004177.mp4"}
+{"uid":"4888785418366114965","text":"\u003ctask:success:discrete:True\u003e\nplace the cup in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup in the sink\n\u003c/PRED\u003e","video":"12807081110414871133.mp4"}
+{"uid":"7268154208355984085","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":"607587904474206832.mp4"}
+{"uid":"17894523135427143713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17451487386324081527.mp4"}
+{"uid":"7944877167346895625","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green packet from the table 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e","video":"3966731885288151375.mp4"}
+{"uid":"13974284911837595650","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7221431469592469203.mp4"}
+{"uid":"14422012807919689041","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the box 2- Place the packet into the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown 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:success:discrete:False\u003e\nplace the brown 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","video":"3641409798648411081.mp4"}
+{"uid":"11770053236718972270","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: place the bowl in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink 3- unstack the bowl 4- place the bowl in the sink Q: immediate next step? \u003cPRED\u003eA: place the bowl in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink 3- unstack the bowl 4- place the bowl in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl in the sink 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 bowl in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12638742967035208022.mp4"}
+{"uid":"8558325968596152637","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray 9- pick up the white packet from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray 9- pick up the white packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the white packet 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 white packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13407394969250586430.mp4"}
+{"uid":"6880106691201108948","text":"\u003ctask:success:discrete:False\u003e\nPlace the packet 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 packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet 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: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Place the packet into the tray 3- Pick the packet 4- Place the packet into the tray 5- Pick the packet\n\u003c/PRED\u003e","video":"5907264821724041498.mp4"}
+{"uid":"2690741674667508855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"4914987909888349008.mp4"}
+{"uid":"6417841380655370646","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- put cup on the table 3- put brown napkin on the table 4- put spoon on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5849574096169104113.mp4"}
+{"uid":"5422904279776596647","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the crunch chips packet in to box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the crunch chips packet in to box 2- Pick the packet 3- pick up the brown packet from the table 4- Place the packet into the tray 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet Q: immediate next step? \u003cPRED\u003eA: place the crunch chips packet in to box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the crunch chips packet in to box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the crunch chips packet in to box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the crunch chips packet in to box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the crunch chips packet in to box\n\u003c/PRED\u003e","video":"16926240275995623399.mp4"}
+{"uid":"7313620366632666405","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":"513414706902048484.mp4"}
+{"uid":"17067307960389862860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10641773476887369216.mp4"}
+{"uid":"4029915365414034395","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: pick up the white packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick up the white packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white packet 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 white packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white packet from the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9602024504282134558.mp4"}
+{"uid":"4340869542856038086","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer 4- pick up the yellow candy Q: next 5 steps? \u003cPRED\u003eA: 1- close drawer 2- exit the room with the candy 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer 4- pick up the yellow candy Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7053200099596811300.mp4"}
+{"uid":"7339139847588652321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6434795221032743807.mp4"}
+{"uid":"4704148411764037600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow 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":"7948447763110718697.mp4"}
+{"uid":"11113178845393083897","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown 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","video":"8893048157529465940.mp4"}
+{"uid":"15655087256070967853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the basket straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"860512638976782456.mp4"}
+{"uid":"14372030874191881634","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the packet 2- Place the packet into the tray 3- Pick the packet 4- pick up the brown packet from the table 5- Place the packet into the tray\n\u003c/PRED\u003e","video":"17670429807493895486.mp4"}
+{"uid":"15205215331555121453","text":"\u003ctask:success:discrete:False\u003e\nput spoon on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: put spoon on the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup 3- put cup on the table 4- put brown napkin on the table Q: immediate next step? \u003cPRED\u003eA: put spoon on the napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open refrigerator 2- pick up the cup 3- put cup on the table 4- put brown napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on the napkin 2- done\n\u003c/PRED\u003e","video":"10264940059442852595.mp4"}
+{"uid":"8548051498862145335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12814411036143823851.mp4"}
+{"uid":"11907771500740646614","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":"8753021309378106532.mp4"}
+{"uid":"16967553989337205088","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: place the cup in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the sink 2- unstack the bowl 3- place the bowl in the sink 4- place the bowl in the sink 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink Q: immediate next step? \u003cPRED\u003eA: place the cup in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the sink\n\u003c/PRED\u003e","video":"17846524321756366322.mp4"}
+{"uid":"9361932964897483280","text":"\u003ctask:success:discrete:False\u003e\npick the white 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: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: pick the white packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick the white packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the white packet 2- Place the packet into the tray 3- Place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the white packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the white packet\n\u003c/PRED\u003e","video":"2179822719274863232.mp4"}
+{"uid":"4579378831911787306","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plate in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plate in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3548106242791603548.mp4"}
+{"uid":"15021615131191902754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11752644755664871372.mp4"}
+{"uid":"8498727143840662916","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray 9- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray 9- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10063097320580067864.mp4"}
+{"uid":"14508628118068135809","text":"\u003ctask:success:discrete:False\u003e\nexit the room with the 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:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room with the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer 4- pick up the yellow candy 5- close drawer Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the candy 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while you come back get me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle 2- open the drawer 3- put tray in edge of the drawer 4- pick up the yellow candy 5- close drawer Q: immediate next step? \u003cPRED\u003eA: exit the room with the candy\n\u003c/PRED\u003e","video":"15164723289740843718.mp4"}
+{"uid":"5509025803248687644","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown 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":"11801940573735885762.mp4"}
+{"uid":"3173717794149900782","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: drop the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue packet into the basket 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue 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 all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: drop the blue packet into the basket\n\u003c/PRED\u003e","video":"17958289301786526275.mp4"}
+{"uid":"6229269676476558549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer 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":"11014835786377874999.mp4"}
+{"uid":"14528367933833048375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16584601452121191330.mp4"}
+{"uid":"8960171193377623194","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":"3571592070013480440.mp4"}
+{"uid":"11348941168660702864","text":"\u003ctask:success:discrete:True\u003e\nPick the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the packet\n\u003c/PRED\u003e","video":"7017832862305800905.mp4"}
+{"uid":"7444797459573777353","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink 3- unstack the bowl 4- place the bowl in the sink 5- place the bowl in the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- place the plate in the sink 2- place the cup in the sink 3- unstack the bowl 4- place the bowl in the sink 5- place the bowl in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2941390123135123736.mp4"}
+{"uid":"3013551176283678289","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray 9- drop the blue packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue 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: drop the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray 4- Pick the packet 5- Place the packet into the tray 6- Pick the packet 7- pick up the brown packet from the table 8- Place the packet into the tray 9- drop the blue packet into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8995501924497549701.mp4"}
+{"uid":"11767768981489808669","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the crunch chips packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the crunch chips packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the crunch chips packet from the table 2- Place the packet into the tray 3- Pick the packet 4- pick up the brown packet from the table 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the crunch chips packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back into the bin. last 20 steps: 1- Pick the packet 2- Place the packet into the tray 3- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: pick the crunch chips packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the crunch chips packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick the crunch chips packet from the table\n\u003c/PRED\u003e","video":"8532483349049953363.mp4"}
+{"uid":"16203675537766020823","text":"\u003ctask:success:discrete:True\u003e\nplace the crunch chips packet in to 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 crunch chips packet in to box\n\u003c/PRED\u003e","video":"9716306078825151835.mp4"}
+{"uid":"4042509646086224562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7210500868708455890.mp4"}
+{"uid":"5978864484481788628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a blue highlighter in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2558667245017504541.mp4"}
+{"uid":"1154193718238012222","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray 11- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray 11- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"9206682134544406898.mp4"}
+{"uid":"14568822795409488424","text":"\u003ctask:success:discrete:False\u003e\nPut the brown packet in a 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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in a tray. 2- put the brown packet  in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in a 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":"5703549287273399441.mp4"}
+{"uid":"6169097872637173654","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"111201432912322516.mp4"}
+{"uid":"16412352642965887254","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the cup 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4808007023962616411.mp4"}
+{"uid":"1973438997361356933","text":"\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"16687154170621354762.mp4"}
+{"uid":"9940651778429123768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the wire Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11817645466491805402.mp4"}
+{"uid":"3748873480886338481","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":"15788582079808193441.mp4"}
+{"uid":"11485549020706348769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput beans in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4870349209176422689.mp4"}
+{"uid":"212870768998251253","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":"12309484426860919631.mp4"}
+{"uid":"7001309565901166770","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a spoon on a stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a spoon on a 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 a spoon on a stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a spoon on a 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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put a spoon on a stand 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put a spoon on a stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put a spoon on a stand\n\u003c/PRED\u003e","video":"5377923794780170814.mp4"}
+{"uid":"10565319886359019707","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put a second spoon on a stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put a second spoon on a stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a second spoon on a 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 second spoon on a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put a second spoon on a stand 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a second spoon on a stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a second spoon on a stand\n\u003c/PRED\u003e","video":"17430078185416132397.mp4"}
+{"uid":"9553698798808588617","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Place the packet in the tray 3- Place the packet in the tray 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2423775802818813562.mp4"}
+{"uid":"269983284883970128","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":"16558670017936507281.mp4"}
+{"uid":"16631587278090720346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white chip packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4962777370388621607.mp4"}
+{"uid":"2026400565346607346","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet  in the tray 2- Place the packet in the tray 3- Place the packet in the tray 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet  in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2669785854245575718.mp4"}
+{"uid":"5253493197467797809","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet  in the tray 2- put the brown packet  in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet  in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3819330052668460320.mp4"}
+{"uid":"8082747294343038351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6767235316102471289.mp4"}
+{"uid":"13547151757949221819","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":"15458594110861485563.mp4"}
+{"uid":"828427217200714349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky note 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":"9733423875681574455.mp4"}
+{"uid":"6091695619491559435","text":"\u003ctask:success:discrete:False\u003e\nPlace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the holder 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e","video":"12133621282514585101.mp4"}
+{"uid":"5057011094267273406","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in a 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray 11- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in a tray. 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in a 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 brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray 11- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e","video":"15870770188458918883.mp4"}
+{"uid":"3022174635143539757","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16894637072135482614.mp4"}
+{"uid":"10518346156419089268","text":"\u003ctask:success:discrete:False\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"11787474428697026218.mp4"}
+{"uid":"18244581851818102696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15468815548844672101.mp4"}
+{"uid":"15505382659795572373","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in a 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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in a tray. 2- Place the packet in the tray 3- put the brown packet  in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in a tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in a 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":"4143332912998738027.mp4"}
+{"uid":"8273104943428592484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14145574736390452221.mp4"}
+{"uid":"9336574113860669113","text":"\u003ctask:success:discrete:True\u003e\nPlace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e","video":"16317325250770706073.mp4"}
+{"uid":"7711435731381816802","text":"\u003ctask:success:discrete:True\u003e\nPlace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e","video":"15767675580023933394.mp4"}
+{"uid":"18134277006023636422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLeave the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11306117156767105526.mp4"}
+{"uid":"5183822709924800767","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":"5033540690995828126.mp4"}
+{"uid":"11116807381428573260","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- Place the packet in the tray 3- Place the packet in the tray 4- put the brown packet  in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5934005238466863245.mp4"}
+{"uid":"14875488218110143073","text":"\u003ctask:success:discrete:False\u003e\nPut a fourth spoon on a 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 fourth spoon on a 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 a fourth spoon on a stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put a fourth spoon on a stand 2- Place the packet in the tray 3- Place the packet in the tray 4- put the brown packet  in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a fourth spoon on a stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put a fourth spoon on a stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put a fourth spoon on a stand\n\u003c/PRED\u003e","video":"13481691804055996051.mp4"}
+{"uid":"14992790198796259805","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put a third spoon on a stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put a third spoon on a stand 2- Place the spoon in the holder 3- Place the packet in the tray 4- Place the packet in the tray 5- put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a third spoon on a 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 third spoon on a 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 a third spoon on a stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put a third spoon on a stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a third spoon on a stand\n\u003c/PRED\u003e","video":"8423050596054171836.mp4"}
+{"uid":"7137586426994753853","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the second brown packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the second brown packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the second brown packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the second brown packet in a 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the second brown packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet  in the tray 2- Place the packet in the tray 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the second brown packet in a tray 2- Place the packet in the tray 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place 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 brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the second brown packet in a tray\n\u003c/PRED\u003e","video":"9447308895562427013.mp4"}
+{"uid":"17079799186365035468","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e","video":"15789045843216467864.mp4"}
+{"uid":"17396339993289191973","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":"203716980240010263.mp4"}
+{"uid":"16131572075843803962","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in a bowl 2- Place the packet in the tray 3- Place the packet in the tray 4- Place the packet in the tray 5- Place 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 orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e","video":"2836171894556929723.mp4"}
+{"uid":"1441484663931495121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the indoor plant to the left of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6510278802220023416.mp4"}
+{"uid":"15732505341779894608","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the holder 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e","video":"10363318646406212223.mp4"}
+{"uid":"11561655241144055181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8262566409206619991.mp4"}
+{"uid":"12539260620099028559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck the cups and put it on the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7801191237420703344.mp4"}
+{"uid":"5265006586093939028","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in a bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5260392572757925040.mp4"}
+{"uid":"5596660100484127265","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":"3876530448831360579.mp4"}
+{"uid":"5952914321816330878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the right most silver 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":"6316087651785331342.mp4"}
+{"uid":"18272833325886133136","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packets  in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the brown packets  in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown 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:success:discrete:False\u003e\nput the brown 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put the brown packets  in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packets  in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packets  in the tray 2- Place the packet in the tray 3- put the brown packet  in the tray 4- done\n\u003c/PRED\u003e","video":"14027545963807505184.mp4"}
+{"uid":"2353879413592730724","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the cup 2- Place the packet in the tray 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange in the cup\n\u003c/PRED\u003e","video":"15942213246864362484.mp4"}
+{"uid":"17590502069622460341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tray 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":"4445521210255485915.mp4"}
+{"uid":"1404779315329881990","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- Place the packet in the tray 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13340972654074365782.mp4"}
+{"uid":"2380714458860649765","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"10332150754332395239.mp4"}
+{"uid":"18063312339435315499","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in a 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in a tray 2- Place the packet in the tray 3- Place the packet in the tray 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e","video":"1321815796660304543.mp4"}
+{"uid":"9069945954733238974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15123604668819258591.mp4"}
+{"uid":"14423519611053359014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen to 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":"10044984630474202642.mp4"}
+{"uid":"15505509045192931222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2413309518907106571.mp4"}
+{"uid":"3615498869485044691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on 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":"8976156478546651897.mp4"}
+{"uid":"14254656024733481475","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"16856069713786783177.mp4"}
+{"uid":"15220113023782803646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the beaded chain cord of the window Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2201178748761138550.mp4"}
+{"uid":"7008477808962179583","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the third  brown packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the third  brown packet in a 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 third  brown packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the third  brown packet in a tray 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the third  brown packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the third  brown packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the third  brown packet in a 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":"1158589862128439019.mp4"}
+{"uid":"7531793523797329580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13408426938284997278.mp4"}
+{"uid":"11448462370181953304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white colour packet in the separator 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":"3599074276414666361.mp4"}
+{"uid":"13975354226209438336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolates 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":"12210331058724323294.mp4"}
+{"uid":"4912186634116661633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack orange 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":"878827345684375171.mp4"}
+{"uid":"10180107318841088072","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the holder 2- Place the packet in the tray 3- Place the packet in the tray 4- put the brown packet  in the tray 5- done\n\u003c/PRED\u003e","video":"715037181221950073.mp4"}
+{"uid":"2486285998940617259","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Place the packet in the tray 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"3800557430767781067.mp4"}
+{"uid":"14857492619452336269","text":"\u003ctask:success:discrete:True\u003e\nPlace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e","video":"9153997613979595150.mp4"}
+{"uid":"16209441595910784320","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the holder 2- Place the spoon in the holder 3- Place the packet in the tray 4- Place the packet in the tray 5- put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the holder\n\u003c/PRED\u003e","video":"4132867258710538032.mp4"}
+{"uid":"16334866829932186147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- Place the spoon in the holder 3- Place the packet in the tray 4- Place the packet in the tray 5- put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"11019706799762622606.mp4"}
+{"uid":"5169819084648700721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack a coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2845859913671575947.mp4"}
+{"uid":"13991191847550253978","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet  in the tray 2- Place the spoon in the holder 3- Place the spoon in the holder 4- Place the spoon in the holder 5- Place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e","video":"10561744985184368869.mp4"}
+{"uid":"12235949407694383952","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":"1407690756113317036.mp4"}
+{"uid":"16425643687878365758","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- put the brown packet  in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15727903823424941003.mp4"}
+{"uid":"8684312650677787174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the duster 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":"4109472905168689783.mp4"}
+{"uid":"10491915554942583532","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Place the packet in the tray 3- put the brown packet  in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"1499339022083904730.mp4"}
+{"uid":"17211924559206037255","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray 11- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown 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 the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Place the orange in the bowl 2- Place the orange in the bowl 3- Place the packet in the tray 4- Place the packet in the tray 5- Place the packet in the tray 6- Place the spoon in the holder 7- Place the spoon in the holder 8- Place the spoon in the holder 9- Place the spoon in the holder 10- Place the packet in the tray 11- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet  in the tray\n\u003c/PRED\u003e","video":"4365659755981617889.mp4"}
+{"uid":"18421714371129319146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the bottom right silver object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10235989769626732353.mp4"}
+{"uid":"1817148257087859604","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":"12293213452312165123.mp4"}
+{"uid":"4037800373753456642","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"7792694702073811411.mp4"}
+{"uid":"3636157431427400725","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can in the tray 2- Place the can in the tray 3- put the blue can in the tray 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e","video":"15046001287169287618.mp4"}
+{"uid":"18176691726033047072","text":"\u003ctask:success:discrete:False\u003e\nPlace a can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can on the table 2- place the can on the table 3- put the red bull can on the table 4- place the can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e","video":"10953414751772666055.mp4"}
+{"uid":"362210058004988438","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14863262761931590132.mp4"}
+{"uid":"12241243336289572822","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put the red bull can on the table 3- place the can on the table 4- put the red bull can on the table 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"16677721660809098786.mp4"}
+{"uid":"16223063415096423173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrestack 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":"2643879173204958707.mp4"}
+{"uid":"4016406398605162016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6488407701013613073.mp4"}
+{"uid":"10950692933662085146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic forks in the black 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":"16646920234601036827.mp4"}
+{"uid":"17617723838425266011","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"11288158266901302986.mp4"}
+{"uid":"7741297651845295104","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can 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 replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can in the tray 2- Place the can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e","video":"17924027436716470821.mp4"}
+{"uid":"17737065173579638652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pens 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":"14685923575216299619.mp4"}
+{"uid":"4412343022827520755","text":"\u003ctask:success:discrete:True\u003e\nPlace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e","video":"4612022986508567947.mp4"}
+{"uid":"1886732732463811878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"66285926000795441.mp4"}
+{"uid":"11432569873696555339","text":"\u003ctask:success:discrete:True\u003e\nPlace a can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e","video":"12488993218196136032.mp4"}
+{"uid":"565007937831923595","text":"\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- put the red bull can on the table 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"7719947171285739022.mp4"}
+{"uid":"9413218807630459459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the glass in stacked glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12668951788075702279.mp4"}
+{"uid":"12193627921917336348","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the can in the tray 2- Place the can in the tray 3- Place the can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e","video":"7068315936732665259.mp4"}
+{"uid":"7494237993609948352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"14028171804477597714.mp4"}
+{"uid":"5818515653349894180","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"5986406741572858051.mp4"}
+{"uid":"5042355735085942288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12107852823964265830.mp4"}
+{"uid":"9088227217066429150","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- put the red bull can on the table 3- place the can on the table 4- put the red bull can on the table 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10378196154753141806.mp4"}
+{"uid":"2208966612280086329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffee 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":"13084999677416694220.mp4"}
+{"uid":"17994002696017836417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17218119169833045143.mp4"}
+{"uid":"6108549013176857999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky notes 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":"15268110939532054883.mp4"}
+{"uid":"6213560571766616213","text":"\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"1422987538156173407.mp4"}
+{"uid":"8648777963469784328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14178428307707556454.mp4"}
+{"uid":"13583452198587468894","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- place the can on the table 3- put the red bull can on the table 4- place the can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10599675792775118529.mp4"}
+{"uid":"16546824724990899888","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":"7409569057078513038.mp4"}
+{"uid":"3472822886427994496","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- put the red bull can on the table 3- Place the can in the tray 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"10768987353496375532.mp4"}
+{"uid":"8710294474251964112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put the red bull can on the table 3- Place the can in the tray 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4009547993579374120.mp4"}
+{"uid":"1624883494228020235","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the can 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 replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the can in the tray 2- put the blue can in the tray 3- Place the can in the tray 4- Place the can in the tray 5- done\n\u003c/PRED\u003e","video":"3169877652381304082.mp4"}
+{"uid":"6234235439649672328","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7950299939944569944.mp4"}
+{"uid":"13199712076191898535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16085951309683322572.mp4"}
+{"uid":"2282013546830998417","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can on the table 2- put the red bull can on the table 3- place the can on the table 4- put the red bull can on the table 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15215431869063868946.mp4"}
+{"uid":"16358066496466356274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12124802708047153342.mp4"}
+{"uid":"1971226146055134469","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the tray 2- put the blue can in the tray 3- Place the can in the tray 4- Place the can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"8869226793004880543.mp4"}
+{"uid":"15557808433660869590","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"4693119774415494307.mp4"}
+{"uid":"16784875807549825687","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can 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 replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can in the tray 2- Place the can in the tray 3- Place the can in the tray 4- done\n\u003c/PRED\u003e","video":"773895251208312900.mp4"}
+{"uid":"3421215873463390332","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can 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 replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the tray 2- Place the can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"12731602305340499137.mp4"}
+{"uid":"246313167774258465","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the tray 2- Place the can in the tray 3- put the blue can in the tray 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can 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":"5609178609835762551.mp4"}
+{"uid":"15334163887930416781","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the tray 2- Place the can in the tray 3- Place the can in the tray 4- done\n\u003c/PRED\u003e","video":"10504933371174958045.mp4"}
+{"uid":"2907869222408938444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14411038646592240724.mp4"}
+{"uid":"11107479608861991934","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- Place the can in the tray 3- Place the can in the tray 4- Place the can in the tray 5- put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"12039976363624656102.mp4"}
+{"uid":"7418275888131017489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16991698377229004765.mp4"}
+{"uid":"18320595808860931524","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can on the table 2- place the can on the table 3- put the red bull can on the table 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14934354196664871143.mp4"}
+{"uid":"16782984460108676022","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can 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 replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can in the tray 2- Place the can in the tray 3- Place the can in the tray 4- put the blue can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e","video":"13543623114772498082.mp4"}
+{"uid":"6708559564545912413","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can 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 replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can in the tray 2- done\n\u003c/PRED\u003e","video":"15485144905756977306.mp4"}
+{"uid":"3146695593446600879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11006654247884752585.mp4"}
+{"uid":"10063965103798285062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18393327117736983891.mp4"}
+{"uid":"1051899236488259808","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"9204476325542080583.mp4"}
+{"uid":"5737291070788301839","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":"10688565496252729923.mp4"}
+{"uid":"2522781059423040846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4932446971774008984.mp4"}
+{"uid":"85616894268207731","text":"\u003ctask:success:discrete:False\u003e\nPlace a can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can 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 replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can in the tray 2- put the blue can in the tray 3- Place the can in the tray 4- Place the can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e","video":"18270451130029443000.mp4"}
+{"uid":"8389033857884430610","text":"\u003ctask:success:discrete:True\u003e\nPlace a can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e","video":"17662201224880290071.mp4"}
+{"uid":"17106872687263652197","text":"\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"3370768477818057069.mp4"}
+{"uid":"12808211414221200010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2113558715778774400.mp4"}
+{"uid":"14444443247993266747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11434639708112376692.mp4"}
+{"uid":"11234079210907409761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch the locker door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11066578223881071912.mp4"}
+{"uid":"14038966313273468717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11104726288551789267.mp4"}
+{"uid":"17434105899171408724","text":"\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"10977347909464762705.mp4"}
+{"uid":"4468717684359064818","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- place the can on the table 3- put the red bull can on the table 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"5260463021816535342.mp4"}
+{"uid":"18160123709036563201","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"394785545642554926.mp4"}
+{"uid":"6286290595945363901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an 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":"18165769596165865020.mp4"}
+{"uid":"14951885420077787073","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"16216936650411639941.mp4"}
+{"uid":"6221386848429060592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4812489623507900758.mp4"}
+{"uid":"10153077014664536649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstick a note on the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2158135182855789758.mp4"}
+{"uid":"13782135924038461915","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5174148793601534130.mp4"}
+{"uid":"8720284298047680675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paperclip into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6959466693638794708.mp4"}
+{"uid":"7763339177540049101","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":"2229696885885643278.mp4"}
+{"uid":"14577824299852290837","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"5025188385162852667.mp4"}
+{"uid":"13121140987479837884","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"2646505025657573917.mp4"}
+{"uid":"7919001762974381177","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10318313051009185587.mp4"}
+{"uid":"779484526254449490","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray 12- put the blue can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray 12- put the blue can in the tray 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 blue can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"634203251742401059.mp4"}
+{"uid":"10629630154093458065","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16070133237664565132.mp4"}
+{"uid":"1657784413928238236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1857258267226671069.mp4"}
+{"uid":"3387910390856708304","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the can 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 replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e","video":"4192046238496968393.mp4"}
+{"uid":"2883890046487680096","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can on the table 2- Place the can in the tray 3- Place the can in the tray 4- Place the can in the tray 5- put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9807632691646585244.mp4"}
+{"uid":"17525400410746564880","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":"11369304660607772957.mp4"}
+{"uid":"8678030620260218380","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e","video":"11617457240610185081.mp4"}
+{"uid":"10515786382159332196","text":"\u003ctask:success:discrete:True\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"12422255513656279811.mp4"}
+{"uid":"11122919884141246849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8672940033510412464.mp4"}
+{"uid":"3405642231262143655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13736853794699592824.mp4"}
+{"uid":"14448055005312341355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11637783894909696929.mp4"}
+{"uid":"1038373463853608215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove toward the red packet 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":"6458227231223963453.mp4"}
+{"uid":"13936117833439355183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"29614773923501484.mp4"}
+{"uid":"846928079584361977","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place a can on the table 2- put the red bull can on the table 3- Place the can in the tray 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a can on the table\n\u003c/PRED\u003e","video":"1300868929589283499.mp4"}
+{"uid":"13746473059133827987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chair near 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":"14210496134866044587.mp4"}
+{"uid":"16712772454210325455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6841470221459391808.mp4"}
+{"uid":"16822360622979305557","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"2937710580100651603.mp4"}
+{"uid":"13636145344119997814","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- Place the can in the tray 3- Place the can in the tray 4- Place the can in the tray 5- put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"16050961681607161007.mp4"}
+{"uid":"13380984437502274773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"738451696731380863.mp4"}
+{"uid":"6733290547091042040","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the can in the tray 2- Place the can in the tray 3- put the blue can in the tray 4- Place the can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e","video":"5584278917604842086.mp4"}
+{"uid":"18031955525948053459","text":"\u003ctask:success:discrete:True\u003e\nPlace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e","video":"16493077231293560569.mp4"}
+{"uid":"15566118604119542308","text":"\u003ctask:success:discrete:False\u003e\nput the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can 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 replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the tray 2- Place the can in the tray 3- Place the can in the tray 4- put the blue can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the tray\n\u003c/PRED\u003e","video":"4721239946889098882.mp4"}
+{"uid":"2188656046773141776","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the can in the tray 2- Place the can in the tray 3- Place the can in the tray 4- put the blue can in the tray 5- Place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the can 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\nPlace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e","video":"15666872500746313961.mp4"}
+{"uid":"13662195653978157201","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- put the red bull can on the table 4- place the can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12340360471455602308.mp4"}
+{"uid":"10521094118203308219","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the can in the tray 2- Place the can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e","video":"15441126732545120512.mp4"}
+{"uid":"13617371386822172259","text":"\u003ctask:success:discrete:True\u003e\nPlace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray 12- Place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew. last 20 steps: 1- put the red bull can on the table 2- place the can on the table 3- place the can on the table 4- put the red bull can on the table 5- place the can on the table 6- put the red bull can on the table 7- Place the can in the tray 8- Place the can in the tray 9- Place the can in the tray 10- put the blue can in the tray 11- Place the can in the tray 12- Place the can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull out with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11993931310423896850.mp4"}
+{"uid":"17118053036288252064","text":"\u003ctask:success:discrete:True\u003e\nPlace a can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a can in the tray\n\u003c/PRED\u003e","video":"3493313375654568337.mp4"}
+{"uid":"15821280181741907847","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":"7227231513057727224.mp4"}
+{"uid":"1493828249138226896","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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- 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- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of 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: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put 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","video":"5000833435126901470.mp4"}
+{"uid":"11531120202586269335","text":"\u003ctask:success:discrete:False\u003e\npush 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: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush 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: push the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray 2- push the tray 3- arrange the packets in the tray 4- push the tray 5- arrange the packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e","video":"4804709559772441539.mp4"}
+{"uid":"12649366681207033065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"1129695495323681401.mp4"}
+{"uid":"2982295023345024490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut two yellow packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9893522543688135789.mp4"}
+{"uid":"7742537599015204040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13064890996631021289.mp4"}
+{"uid":"14540864567533204244","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: insert the key into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer 10- take the keys Q: next 5 steps? \u003cPRED\u003eA: 1- insert the key into the drawer 2- take the keys from the drawer 3- place the keys on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ninsert the key into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer 10- take the keys Q: immediate next step? \u003cPRED\u003eA: insert the key into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ninsert the key into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: insert the key into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: insert the key into the drawer\n\u003c/PRED\u003e","video":"17674070171960790128.mp4"}
+{"uid":"3127806553866304693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the packet into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6820894366730952179.mp4"}
+{"uid":"178706903542447849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7785288633821409108.mp4"}
+{"uid":"14384172985402058907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cloth 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":"12871241669624144183.mp4"}
+{"uid":"18172949613434773473","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":"18031113190741827397.mp4"}
+{"uid":"14538998556862472623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the package from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10716223432467184919.mp4"}
+{"uid":"12748287783360486981","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: place the keys on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer 10- take the keys 11- insert the key into the drawer 12- take the keys from the drawer Q: immediate next step? \u003cPRED\u003eA: place the keys on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the keys on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 keys on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the keys on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the keys on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer 10- take the keys 11- insert the key into the drawer 12- take the keys from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the keys on the table 2- done\n\u003c/PRED\u003e","video":"13618058984991005536.mp4"}
+{"uid":"13090772510620412558","text":"\u003ctask:success:discrete:False\u003e\npush 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: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray 2- arrange the packets 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush 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: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e","video":"11668213161240422123.mp4"}
+{"uid":"8191652028689799728","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the packets in the tray 2- arrange the packets 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them Q: immediate next step? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray Q: immediate next step? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13823918809616261060.mp4"}
+{"uid":"11353882649830523134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cube 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":"10970785852739342926.mp4"}
+{"uid":"4701898592402994879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the stapler from 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":"1582010316232764366.mp4"}
+{"uid":"5749037048251511899","text":"\u003ctask:success:discrete:True\u003e\nplace the  black pen in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the  black pen in a drawer\n\u003c/PRED\u003e","video":"214388297288173620.mp4"}
+{"uid":"9069360060522347055","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet 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- 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 packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet 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":"13192954123466347411.mp4"}
+{"uid":"10880739357784576821","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":"17684175621691870935.mp4"}
+{"uid":"8260500474991501486","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the note book in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the note book in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4817900585186282892.mp4"}
+{"uid":"13898379824964828600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black marker 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":"6102628451133842171.mp4"}
+{"uid":"6322792507150721113","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"9059846365545103786.mp4"}
+{"uid":"9102415884373864085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7411467893278488454.mp4"}
+{"uid":"8410118015905672708","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: place the blue pen in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pen in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in a drawer 2- open the drawer 3- place the note book in the drawer 4- place the notebook in the drawer 5- place the scissor in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer Q: immediate next step? \u003cPRED\u003eA: place the blue pen in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11789198223998710790.mp4"}
+{"uid":"5702508585381039293","text":"\u003ctask:success:discrete:True\u003e\narrange the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e","video":"12275170558360998329.mp4"}
+{"uid":"4777627568717162960","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- take the keys 3- insert the key into the drawer 4- take the keys from the drawer 5- place the keys on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"5304008297999865417.mp4"}
+{"uid":"7878429469486841857","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: insert the key into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ninsert the key into 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":"11195551052010857890.mp4"}
+{"uid":"4460816475758978539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15020847965939041907.mp4"}
+{"uid":"9230174740988018811","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the notebook in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the notebook in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer Q: immediate next step? \u003cPRED\u003eA: place the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: place the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the notebook in the drawer 2- place the scissor in the drawer 3- place the sanitizer bottle in the drawer 4- close the drawer 5- take the keys\n\u003c/PRED\u003e","video":"10961907348882648655.mp4"}
+{"uid":"15341185093921913745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two glass over a glass 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":"10042860644080703368.mp4"}
+{"uid":"14992120240446078552","text":"\u003ctask:success:discrete:True\u003e\nplace the sanitizer bottle in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e","video":"6692733398536448185.mp4"}
+{"uid":"13860873568005043547","text":"\u003ctask:success:discrete:True\u003e\nplace the notebook in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the notebook in the drawer\n\u003c/PRED\u003e","video":"1952705300415203519.mp4"}
+{"uid":"13782418746802208665","text":"\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:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. 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: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 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","video":"11311137018573764751.mp4"}
+{"uid":"11331700028605197747","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the keys\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake the keys Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11432262933026687978.mp4"}
+{"uid":"10980610460696726021","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":"13755432237043607909.mp4"}
+{"uid":"4419610077443783031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork 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":"16968997376340655201.mp4"}
+{"uid":"14900555781192012852","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- 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- 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: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"10266314999215604253.mp4"}
+{"uid":"1960535646130214433","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the scissor in the drawer 2- place the sanitizer bottle in the drawer 3- close the drawer 4- take the keys 5- insert the key into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer Q: immediate next step? \u003cPRED\u003eA: place the scissor in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: place the scissor in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scissor in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scissor in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scissor in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the scissor in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7541941393359081043.mp4"}
+{"uid":"13901816650722902705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper bags in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11779865267699930179.mp4"}
+{"uid":"12395283161609216513","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":"9047565059160057698.mp4"}
+{"uid":"10694714433720574715","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the keys Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the keys\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the keys\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: take the keys\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the keys Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- take the keys 2- insert the key into the drawer 3- take the keys from the drawer 4- place the keys on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer Q: immediate next step? \u003cPRED\u003eA: take the keys\n\u003c/PRED\u003e","video":"12423388942761246056.mp4"}
+{"uid":"4468619322560771423","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the packets\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray 4- arrange the packets in the tray 5- push the tray 6- arrange the packets Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray 4- arrange the packets in the tray 5- push the tray 6- arrange the packets Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9625506100371217512.mp4"}
+{"uid":"13007302637552194725","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle in the drawer 2- close the drawer 3- take the keys 4- insert the key into the drawer 5- take the keys from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer bottle in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer bottle in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e","video":"15036506319869464721.mp4"}
+{"uid":"6271011336875684787","text":"\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: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: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet 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:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet 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 packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"6904497692024434103.mp4"}
+{"uid":"6399505843816788838","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3564677665888409266.mp4"}
+{"uid":"6475809481100900495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  plastic spoon  in the spoon holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11145077118013199234.mp4"}
+{"uid":"1126879170066171829","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  black pen in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the  black pen in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: place the  black pen in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  black pen in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the  black pen in a drawer 2- place the blue pen in a drawer 3- open the drawer 4- place the note book in the drawer 5- place the notebook in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  black pen in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the  black pen in a drawer\n\u003c/PRED\u003e","video":"12409395626350565814.mp4"}
+{"uid":"15501506523281145756","text":"\u003ctask:success:discrete:True\u003e\nplace the scissor in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the scissor in the drawer\n\u003c/PRED\u003e","video":"5777506286692358059.mp4"}
+{"uid":"3565327585100147526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"437608615454906161.mp4"}
+{"uid":"5136064772409154680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9264157879385949253.mp4"}
+{"uid":"17592107492614181263","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray 4- arrange the packets in the tray 5- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the packets 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them Q: immediate next step? \u003cPRED\u003eA: arrange the packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray 3- push the tray 4- arrange the packets in the tray 5- push the tray Q: immediate next step? \u003cPRED\u003eA: arrange the packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the packets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange 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","video":"10484519718816966795.mp4"}
+{"uid":"15387398322996212359","text":"\u003ctask:success:discrete:False\u003e\ntake the keys from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the keys from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the keys from the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: take the keys from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer 10- take the keys 11- insert the key into the drawer Q: immediate next step? \u003cPRED\u003eA: take the keys from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer 5- place the note book in the drawer 6- place the notebook in the drawer 7- place the scissor in the drawer 8- place the sanitizer bottle in the drawer 9- close the drawer 10- take the keys 11- insert the key into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- take the keys from the drawer 2- place the keys on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the keys from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14542312174645281021.mp4"}
+{"uid":"2950845731974187003","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. 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: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- 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- put packet on the table 5- 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"641991620357860553.mp4"}
+{"uid":"14534384278781299879","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush 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: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: 1- arrange the packets in the tray 2- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray 2- arrange the packets in the tray 3- push the tray 4- arrange the packets 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush 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":"3303516941403547112.mp4"}
+{"uid":"9112890138878983312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14764306297602134168.mp4"}
+{"uid":"9279555587723340479","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":"11609672602508964695.mp4"}
+{"uid":"4041320509887947083","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: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: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"3244351499537632735.mp4"}
+{"uid":"56854112912222010","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. 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: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"8565765665546943266.mp4"}
+{"uid":"7377087411214119215","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them Q: immediate next step? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Someone must have had the munchies really badly and they made a mess of the snack baskets. Please organize them. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the packets in the tray 2- push the tray 3- push the tray 4- arrange the packets in the tray 5- push the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e","video":"7653599144339279781.mp4"}
+{"uid":"16305014446512306308","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":"13846187808514076052.mp4"}
+{"uid":"3036803057474389276","text":"\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:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put packet 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 packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"1560360998049725469.mp4"}
+{"uid":"15470929125080762889","text":"\u003ctask:success:discrete:False\u003e\nplace the note book in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the note book in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: place the note book in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the note book in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the note book in the drawer 2- place the notebook in the drawer 3- place the scissor in the drawer 4- place the sanitizer bottle in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the note book in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the note book in the drawer\n\u003c/PRED\u003e","video":"16747727283923691406.mp4"}
+{"uid":"6049739963515294009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop green chip bag on 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":"5579305813684425505.mp4"}
+{"uid":"9658850189899244561","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":"2755942484010410039.mp4"}
+{"uid":"4214860574250960544","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys. last 20 steps: 1- open the drawer 2- place the  black pen in a drawer 3- place the blue pen in a drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the note book in the drawer 3- place the notebook in the drawer 4- place the scissor in the drawer 5- place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put all the items on my desk into my file cabinet, then lock the file cabinet using the keys Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"7087597862431811919.mp4"}
+{"uid":"18233470478690808260","text":"\u003ctask:success:discrete:True\u003e\narrange the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the packets in the tray\n\u003c/PRED\u003e","video":"13434826398676778115.mp4"}
+{"uid":"5982076838933780149","text":"\u003ctask:success:discrete:False\u003e\npush the file up a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the file up a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right Q: immediate next step? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right Q: next 5 steps? \u003cPRED\u003eA: 1- push the file up a bit 2- Grab the file 3- Release the file 4- Touch the file 5- Grasp the left black file\n\u003c/PRED\u003e","video":"1508122590032681701.mp4"}
+{"uid":"17632762384491923647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green ball 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":"16232626880999207660.mp4"}
+{"uid":"1693297405232019272","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the right black file on the table to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the right black file on the table 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the right black file on the table to the right 2- push the file up a bit 3- Grab the file 4- Release the file 5- Touch the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: immediate next step? \u003cPRED\u003eA: Move the right black file on the table to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the right black file on the table to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the right black file on the table 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:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the right black file on the table to the right\n\u003c/PRED\u003e","video":"6318992137611549959.mp4"}
+{"uid":"17688911617243768149","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the file down a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the file down a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6785129600355384067.mp4"}
+{"uid":"1897409993785823492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nempty out the right paper cup in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8200834308953398597.mp4"}
+{"uid":"3747522467543406174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the file down a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the file down a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6929304346089660438.mp4"}
+{"uid":"11908867105525880135","text":"\u003ctask:success:discrete:False\u003e\nGo to the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Go to the black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the black file 2- push the file up a bit 3- Grab the file 4- Release the file 5- Touch the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the black file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: immediate next step? \u003cPRED\u003eA: Go to the black file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the black file\n\u003c/PRED\u003e","video":"10479404907397968616.mp4"}
+{"uid":"14507601569918668668","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go away from the file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo away from the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file 15- push the file up a bit Q: next 5 steps? \u003cPRED\u003eA: 1- Go away from the file 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Go away from the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo away from the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 away from the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file 15- push the file up a bit Q: immediate next step? \u003cPRED\u003eA: Go away from the file\n\u003c/PRED\u003e","video":"2909149829186675626.mp4"}
+{"uid":"6494776863525681729","text":"\u003ctask:success:discrete:True\u003e\ndrag the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drag the black file\n\u003c/PRED\u003e","video":"1201978649796957302.mp4"}
+{"uid":"9611293958294866651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15634670748904173431.mp4"}
+{"uid":"6833829849550266129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up two packets from floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"437969229759950856.mp4"}
+{"uid":"14377165675322453015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10180339234080747733.mp4"}
+{"uid":"13723424583603310528","text":"\u003ctask:success:discrete:True\u003e\npick the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left black file\n\u003c/PRED\u003e","video":"1127766851120087174.mp4"}
+{"uid":"15576784098411734025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the right black file to the edge of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the right black file to the edge of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4619415243209038183.mp4"}
+{"uid":"4281526121907118476","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file Q: immediate next step? \u003cPRED\u003eA: Place the black file on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black file on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Place the black file on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black file on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black file on the table 2- Move away from the file 3- Grasp the file 4- close the file 5- Touch the file on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black file on the table\n\u003c/PRED\u003e","video":"17837048266334646160.mp4"}
+{"uid":"2762537184157997311","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: immediate next step? \u003cPRED\u003eA: Close the black file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: next 5 steps? \u003cPRED\u003eA: 1- Close the black file 2- Touch the file 3- Grasp the left black file 4- Pick up the left black file 5- Place the black file on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the black file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the black file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Close the black file\n\u003c/PRED\u003e","video":"15212273325018194035.mp4"}
+{"uid":"14486457342601849974","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":"10178017334782293368.mp4"}
+{"uid":"9974831625103826024","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the left black file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file Q: next 5 steps? \u003cPRED\u003eA: 1- pick the left black file 2- Place the black file on the table 3- Move away from the file 4- Grasp the file 5- close the file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: pick the left black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the left black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 left black file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file Q: immediate next step? \u003cPRED\u003eA: pick the left black file\n\u003c/PRED\u003e","video":"6487964620436071537.mp4"}
+{"uid":"8755560936135975814","text":"\u003ctask:success:discrete:True\u003e\nGrasp the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e","video":"4966972039689529320.mp4"}
+{"uid":"15758605904277436696","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move to the left file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the left file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: immediate next step? \u003cPRED\u003eA: Move to the left file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the left file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the left file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the left file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the left file 2- Pick up the left black file 3- Place the black file on the table 4- Move away from the file 5- Grasp the file\n\u003c/PRED\u003e","video":"13937395207112928748.mp4"}
+{"uid":"11387783812475861197","text":"\u003ctask:success:discrete:False\u003e\nGo to the file 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: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Go to the file on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the file on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: immediate next step? \u003cPRED\u003eA: Go to the file on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the file on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the file on the table 2- push the file up a bit 3- Grab the file 4- Release the file 5- Touch the file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7125954898545755049.mp4"}
+{"uid":"8629467466478381224","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the file 2- push the file up a bit 3- Go away from the file 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table Q: immediate next step? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16679144965702755785.mp4"}
+{"uid":"9854725759108373330","text":"\u003ctask:success:discrete:True\u003e\nTouch the file 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: Touch the file on the table\n\u003c/PRED\u003e","video":"13164950215664352636.mp4"}
+{"uid":"12339104677635197610","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the right black file on the table to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the right black file on the table 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":"6772843157081846796.mp4"}
+{"uid":"8274790173062587351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6964984221871792155.mp4"}
+{"uid":"1010948846804327171","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Drag the file to the bottom of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the file to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the file to the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the file to the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the file to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the file to the bottom of the table 2- push the file up a bit 3- Grab the file 4- Release the file 5- Touch the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: immediate next step? \u003cPRED\u003eA: Drag the file to the bottom of the table\n\u003c/PRED\u003e","video":"8084985073712802701.mp4"}
+{"uid":"2402240885033169704","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: immediate next step? \u003cPRED\u003eA: Pick up the left side black file from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left side black file from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Pick up the left side black file from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the left side black file from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left side black file from the table 2- Place the black file on the table 3- Move away from the file 4- Grasp the file 5- close the file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the left side black file from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left side black file from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16082185835002526781.mp4"}
+{"uid":"14277977518446256663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15403634874195147048.mp4"}
+{"uid":"3620187487583775459","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":"5066724128758941506.mp4"}
+{"uid":"11080902059952390328","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the file 2- Release the file 3- Touch the file 4- Grasp the left black file 5- Pick up the left black file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: immediate next step? \u003cPRED\u003eA: Grab the file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Grab the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the file\n\u003c/PRED\u003e","video":"8996757037929377563.mp4"}
+{"uid":"4014743855372892813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon on the tissues Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10302248868026798665.mp4"}
+{"uid":"12438861884788938546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace purple 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":"13046917619745874064.mp4"}
+{"uid":"14487087124840040872","text":"\u003ctask:success:discrete:True\u003e\nGrasp the file on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the file on the table\n\u003c/PRED\u003e","video":"10889098177025834814.mp4"}
+{"uid":"10551225158444092199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUplift the white glass from the pile of glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2338711640783046618.mp4"}
+{"uid":"7102647290236049347","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the black file downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the black file downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the black file downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the black file downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the black file downwards 2- Grab the file 3- Release the file 4- Touch the file 5- Grasp the left black file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Drag the black file downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: immediate next step? \u003cPRED\u003eA: Drag the black file downwards\n\u003c/PRED\u003e","video":"14104693475556101257.mp4"}
+{"uid":"7607643821630483307","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Close the left black file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- Close the left black file 2- Touch the file on the table 3- Move away from the file 4- push the file up a bit 5- Go away from the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the left black file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the left black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the left black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: immediate next step? \u003cPRED\u003eA: Close the left black file\n\u003c/PRED\u003e","video":"3541985959343525909.mp4"}
+{"uid":"12473693493531834991","text":"\u003ctask:success:discrete:False\u003e\nMove the file down a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file Q: next 5 steps? \u003cPRED\u003eA: 1- Move the file down a bit 2- Place the black file on the table 3- Move away from the file 4- Grasp the file 5- close the file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the file down a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the file down a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the file down a bit\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file Q: immediate next step? \u003cPRED\u003eA: Move the file down a bit\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the file down a bit\n\u003c/PRED\u003e","video":"17883452890082832178.mp4"}
+{"uid":"12439471625161127102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14087318555482579469.mp4"}
+{"uid":"3005911985329280485","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16259076370942708961.mp4"}
+{"uid":"988541833706167916","text":"\u003ctask:success:discrete:False\u003e\nclose the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: immediate next step? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: next 5 steps? \u003cPRED\u003eA: 1- close the file 2- Touch the file 3- Grasp the left black file 4- Pick up the left black file 5- Place the black file on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e","video":"178216701120525230.mp4"}
+{"uid":"17477515221269605696","text":"\u003ctask:success:discrete:True\u003e\nDrag the black file downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drag the black file downwards\n\u003c/PRED\u003e","video":"17702374624833968440.mp4"}
+{"uid":"3526764530526670027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bottle in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10913123084435410933.mp4"}
+{"uid":"3755554323960180785","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file Q: next 5 steps? \u003cPRED\u003eA: 1- close the file 2- Touch the file on the table 3- Move away from the file 4- push the file up a bit 5- Go away from the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file Q: immediate next step? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e","video":"12177847309895355335.mp4"}
+{"uid":"11524785687705657433","text":"\u003ctask:success:discrete:False\u003e\npick the file 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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: next 5 steps? \u003cPRED\u003eA: 1- pick the file from the table 2- Place the black file on the table 3- Move away from the file 4- Grasp the file 5- close the file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: pick the file from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the file 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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: immediate next step? \u003cPRED\u003eA: pick the file from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the file from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the file from the table\n\u003c/PRED\u003e","video":"12193638005737624532.mp4"}
+{"uid":"12969780145382252571","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14559816856889076010.mp4"}
+{"uid":"199768396413197652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13429053542340863788.mp4"}
+{"uid":"12163952100021288202","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: immediate next step? \u003cPRED\u003eA: close the black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: close the black file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 black file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the black file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: next 5 steps? \u003cPRED\u003eA: 1- close the black file 2- Touch the file 3- Grasp the left black file 4- Pick up the left black file 5- Place the black file on the table\n\u003c/PRED\u003e","video":"15997520745962331491.mp4"}
+{"uid":"86287049092289843","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close to the black file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: close to the black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose to the black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: immediate next step? \u003cPRED\u003eA: close to the black file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close to the black file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- close to the black file 2- Touch the file on the table 3- Move away from the file 4- push the file up a bit 5- Go away from the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose to the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14140146718963700781.mp4"}
+{"uid":"1073441411906325954","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":"7649801873004306914.mp4"}
+{"uid":"8882794547987762395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17763577669579448437.mp4"}
+{"uid":"5207605715202976773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4336404669597027096.mp4"}
+{"uid":"18233613638855272546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the light 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":"2460262469557595305.mp4"}
+{"uid":"9156391646252200208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17440487445225932842.mp4"}
+{"uid":"7258825604255019290","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: move the black file backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the black file backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the black file 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the black file backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the black file backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: next 5 steps? \u003cPRED\u003eA: 1- move the black file backward 2- Grasp the left black file 3- Pick up the left black file 4- Place the black file on the table 5- Move away from the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: immediate next step? \u003cPRED\u003eA: move the black file backward\n\u003c/PRED\u003e","video":"3670521280578979639.mp4"}
+{"uid":"7441740397590498818","text":"\u003ctask:success:discrete:False\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e","video":"4279808139142254141.mp4"}
+{"uid":"1502129717036343770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the right most 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":"3680708169961623275.mp4"}
+{"uid":"15483529001375855004","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the black file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13419262810003928963.mp4"}
+{"uid":"7046675732943025913","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the left side black file forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the left side black file forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- Move the left side black file forward 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the left side black file forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the left side black file forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the left side black file forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: immediate next step? \u003cPRED\u003eA: Move the left side black file forward\n\u003c/PRED\u003e","video":"17929970789482414182.mp4"}
+{"uid":"3009484177981596240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2090420771169710815.mp4"}
+{"uid":"2654193413605697207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black file on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black file 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":"5106065810789179651.mp4"}
+{"uid":"12087050795881520479","text":"\u003ctask:success:discrete:True\u003e\nmove the black file 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the black file backward\n\u003c/PRED\u003e","video":"13338233674408333493.mp4"}
+{"uid":"3185027025348399959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9553938766012549272.mp4"}
+{"uid":"2460364080555875672","text":"\u003ctask:success:discrete:False\u003e\nMove the file to the right a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the file to the right a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the file to the right a bit\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the file to the right a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: next 5 steps? \u003cPRED\u003eA: 1- Move the file to the right a bit 2- Grasp the left black file 3- Pick up the left black file 4- Place the black file on the table 5- Move away from the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the file to the right a bit\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: immediate next step? \u003cPRED\u003eA: Move the file to the right a bit\n\u003c/PRED\u003e","video":"8315450842630996363.mp4"}
+{"uid":"2733454550123602660","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":"4906621672650681219.mp4"}
+{"uid":"11511963916449033212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the file up a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9437033433295130623.mp4"}
+{"uid":"13191026302611623858","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the file upwards on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Push the file upwards on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: immediate next step? \u003cPRED\u003eA: Push the file upwards on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the file upwards on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the file upwards on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 file upwards 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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- Push the file upwards on the table 2- done\n\u003c/PRED\u003e","video":"12709782235452204859.mp4"}
+{"uid":"10232318724166206889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17231510531470744127.mp4"}
+{"uid":"11338620111668467764","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the black file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1537295196270717426.mp4"}
+{"uid":"13213711012749778360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an 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":"2323568032675542545.mp4"}
+{"uid":"4346901123979431832","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the file 2- close the file 3- Touch the file on the table 4- Move away from the file 5- push the file up a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: immediate next step? \u003cPRED\u003eA: Grasp the file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Grasp the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16392593429185706387.mp4"}
+{"uid":"9589029675301849828","text":"\u003ctask:success:discrete:True\u003e\nGrasp the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e","video":"5714062721339155754.mp4"}
+{"uid":"13155982025391781030","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: place the black file on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: next 5 steps? \u003cPRED\u003eA: 1- place the black file on the table 2- Move away from the file 3- Grasp the file 4- close the file 5- Touch the file on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black file on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black file on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: immediate next step? \u003cPRED\u003eA: place the black file on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black file on the table\n\u003c/PRED\u003e","video":"3390909168699366075.mp4"}
+{"uid":"9699676431318056275","text":"\u003ctask:success:discrete:True\u003e\nRelease the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the file\n\u003c/PRED\u003e","video":"7037537458309792017.mp4"}
+{"uid":"5561366925085840534","text":"\u003ctask:success:discrete:True\u003e\nclose to the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close to the black file\n\u003c/PRED\u003e","video":"15810566208526211841.mp4"}
+{"uid":"7200034981846265782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"2885970977153022653.mp4"}
+{"uid":"7725232601307550633","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: immediate next step? \u003cPRED\u003eA: Move the right black file to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the right black file to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the right black file to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: next 5 steps? \u003cPRED\u003eA: 1- Move the right black file to the right 2- Grasp the left black file 3- Pick up the left black file 4- Place the black file on the table 5- Move away from the file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the right black file to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the right black file 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:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the right black file to the right\n\u003c/PRED\u003e","video":"4067727627252722642.mp4"}
+{"uid":"1934641607568491056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: immediate next step? \u003cPRED\u003eA: drop the file on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the file 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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: next 5 steps? \u003cPRED\u003eA: 1- drop the file on the table 2- Move away from the file 3- Grasp the file 4- close the file 5- Touch the file on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: drop the file on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the file on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the file on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2523346612817403213.mp4"}
+{"uid":"5998487519886813765","text":"\u003ctask:success:discrete:True\u003e\nGrasp the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the file\n\u003c/PRED\u003e","video":"17536475264843968950.mp4"}
+{"uid":"15757014610745814526","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the black file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the black file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: immediate next step? \u003cPRED\u003eA: drag the black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: drag the black file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders. last 20 steps: 1- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- drag the black file 2- push the file up a bit 3- Grab the file 4- Release the file 5- Touch the file\n\u003c/PRED\u003e","video":"17148243508175685266.mp4"}
+{"uid":"18182672631100090142","text":"\u003ctask:success:discrete:True\u003e\nClose the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the left black file\n\u003c/PRED\u003e","video":"4822753068221463944.mp4"}
+{"uid":"15541988129275317202","text":"\u003ctask:success:discrete:True\u003e\nTouch the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Touch the file\n\u003c/PRED\u003e","video":"8773834562319407575.mp4"}
+{"uid":"16512577906809858178","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the file 2- Grasp the file 3- close the file 4- Touch the file on the table 5- Move away from the file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table Q: immediate next step? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e","video":"3191996728712456418.mp4"}
+{"uid":"10476439405345197733","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file Q: immediate next step? \u003cPRED\u003eA: Grasp the file on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the file on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the file on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the file on the table 2- Place the black file on the table 3- Move away from the file 4- Grasp the file 5- close the file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the file 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: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Grasp the file on the table\n\u003c/PRED\u003e","video":"11187397184498746018.mp4"}
+{"uid":"12663293819578753556","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the left black file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15243476357808402810.mp4"}
+{"uid":"8183790107443473730","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: immediate next step? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the file up a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- push the file up a bit 2- Go away from the file 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the file up a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the file up a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11978170500757815511.mp4"}
+{"uid":"2461083399810547384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"2408507861198920170.mp4"}
+{"uid":"10189425429984092034","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7067004906538648904.mp4"}
+{"uid":"9845876359632207582","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the left black file forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the left black file forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the left black file forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the left black file forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- Move the left black file forward 2- Go away from the file 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the left black file 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file Q: immediate next step? \u003cPRED\u003eA: Move the left black file forward\n\u003c/PRED\u003e","video":"7721427020324024915.mp4"}
+{"uid":"3256124011629998665","text":"\u003ctask:success:discrete:True\u003e\ndrop the file on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the file on the table\n\u003c/PRED\u003e","video":"13369896648363140290.mp4"}
+{"uid":"15430362086728518741","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: immediate next step? \u003cPRED\u003eA: Move the black file on the table to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the black file on the table to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the black file on the table to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the black file on the table 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:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the black file on the table to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the black file on the table to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the black file on the table to the right 2- push the file up a bit 3- Grab the file 4- Release the file 5- Touch the file\n\u003c/PRED\u003e","video":"16627914709325774147.mp4"}
+{"uid":"9819307844387198491","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the left black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table Q: immediate next step? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the left black file 2- close the file 3- Touch the file on the table 4- Move away from the file 5- push the file up a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15582605517626668699.mp4"}
+{"uid":"11066685772739638039","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":"345972870174365771.mp4"}
+{"uid":"6393695135593787406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cap 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":"2285444341268278202.mp4"}
+{"uid":"5579544364052480374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue pen inside the pen stand 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":"12111775466474424870.mp4"}
+{"uid":"1979522298679287448","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17049952450850773287.mp4"}
+{"uid":"6746519072088695572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up package 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":"8174360589618022975.mp4"}
+{"uid":"4546132094292694649","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: immediate next step? \u003cPRED\u003eA: Release the file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: next 5 steps? \u003cPRED\u003eA: 1- Release the file 2- Touch the file 3- Grasp the left black file 4- Pick up the left black file 5- Place the black file on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Release the file\n\u003c/PRED\u003e","video":"13937796141898530386.mp4"}
+{"uid":"13555758530058063023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to 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":"14560434074496431644.mp4"}
+{"uid":"4092812928092271758","text":"\u003ctask:success:discrete:True\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e","video":"6927281316099834740.mp4"}
+{"uid":"14518122516242183086","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left black file 2- Place the black file on the table 3- Move away from the file 4- Grasp the file 5- close the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: immediate next step? \u003cPRED\u003eA: Pick up the left black file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Pick up the left black file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the left black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 left black file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"745155360835656889.mp4"}
+{"uid":"15591717381454087748","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":"17759780617060261888.mp4"}
+{"uid":"17363239821468259975","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":"5850551134597867345.mp4"}
+{"uid":"17885246217669201054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9620998171496086729.mp4"}
+{"uid":"15888245447359581706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2789044534955938415.mp4"}
+{"uid":"6601645732903725753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the holder on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17255127365918726627.mp4"}
+{"uid":"16474816883246495409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10250638282864516660.mp4"}
+{"uid":"11063878758643317010","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":"14009717467405540841.mp4"}
+{"uid":"5374834410970310332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14756199769592444619.mp4"}
+{"uid":"3127515811656423399","text":"\u003ctask:success:discrete:True\u003e\nPick up the black file on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black file on the table\n\u003c/PRED\u003e","video":"7400871071024227333.mp4"}
+{"uid":"16506048742369630106","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black file on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Pick up the black file on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: immediate next step? \u003cPRED\u003eA: Pick up the black file on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black file on the table 2- Move away from the file 3- Grasp the file 4- close the file 5- Touch the file on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black file on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black file 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\nPick up the black file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14625652721666430649.mp4"}
+{"uid":"7041164072601283471","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the file on the table 2- Move away from the file 3- push the file up a bit 4- Go away from the file 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the file on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file Q: immediate next step? \u003cPRED\u003eA: Touch the file on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nTouch the file 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: Touch the file on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Touch the file on the table\n\u003c/PRED\u003e","video":"14269196787980109637.mp4"}
+{"uid":"10392915368896958637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper holder in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17472712908713968624.mp4"}
+{"uid":"16977821742752538095","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the file\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8599869149342826588.mp4"}
+{"uid":"5151911432202372333","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":"4142671126620132425.mp4"}
+{"uid":"9416049957760059916","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the file down a bit\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the file down a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the file down a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the file down a bit\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: push the file down a bit\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: immediate next step? \u003cPRED\u003eA: push the file down a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: next 5 steps? \u003cPRED\u003eA: 1- push the file down a bit 2- Grasp the left black file 3- Pick up the left black file 4- Place the black file on the table 5- Move away from the file\n\u003c/PRED\u003e","video":"15921889305505359267.mp4"}
+{"uid":"10552203149024998218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5877751978666640443.mp4"}
+{"uid":"813093428277210501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2788626136509094678.mp4"}
+{"uid":"16299419564313644201","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush the file upwards 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: Push the file upwards on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file 15- Push the file upwards 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: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file 11- Grasp the file 12- close the file 13- Touch the file on the table 14- Move away from the file 15- Push the file upwards on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9941368400918657451.mp4"}
+{"uid":"17868574365817905620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10614517600397320204.mp4"}
+{"uid":"17341999522624291557","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: immediate next step? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the left black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the left black file 2- Pick up the left black file 3- Place the black file on the table 4- Move away from the file 5- Grasp the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the left black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the left black file\n\u003c/PRED\u003e","video":"13672146239605703446.mp4"}
+{"uid":"13377064559489003480","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the right black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: next 5 steps? \u003cPRED\u003eA: 1- Close the right black file 2- Touch the file 3- Grasp the left black file 4- Pick up the left black file 5- Place the black file on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the right black file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit Q: immediate next step? \u003cPRED\u003eA: Close the right black file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Close the right black file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the right black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 right black file\n\u003c/PRED\u003e","video":"14333530130166089088.mp4"}
+{"uid":"14047104426547472937","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the right black file to the edge of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Move the right black file to the edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the right black file to the edge of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the right black file to the edge of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the right black file to the edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: next 5 steps? \u003cPRED\u003eA: 1- Move the right black file to the edge of the table 2- Grasp the left black file 3- Pick up the left black file 4- Place the black file on the table 5- Move away from the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file Q: immediate next step? \u003cPRED\u003eA: Move the right black file to the edge of the table\n\u003c/PRED\u003e","video":"13676391897146921946.mp4"}
+{"uid":"7063843649369320940","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Close the file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: next 5 steps? \u003cPRED\u003eA: 1- Close the file 2- Touch the file on the table 3- Move away from the file 4- push the file up a bit 5- Go away from the file\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the file\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file 6- Touch the file 7- Grasp the left black file 8- Pick up the left black file 9- Place the black file on the table 10- Move away from the file Q: immediate next step? \u003cPRED\u003eA: Close the file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the file\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13372677921913631697.mp4"}
+{"uid":"5230794804124077303","text":"\u003ctask:success:discrete:True\u003e\nClose the right black file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the right black file\n\u003c/PRED\u003e","video":"16070900174880403648.mp4"}
+{"uid":"11014514972727165419","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: immediate next step? \u003cPRED\u003eA: Touch the file\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: close the covers to my binders Q: immediate next step? \u003cPRED\u003eA: Touch the file\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the file\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTouch the file Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: Touch the file\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: close the covers to my binders. last 20 steps: 1- Go to the table 2- Move the right black file on the table to the right 3- push the file up a bit 4- Grab the file 5- Release the file Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the file 2- Pick up the left black file 3- Place the black file on the table 4- Move away from the file 5- Grasp the file\n\u003c/PRED\u003e","video":"6660739404817501922.mp4"}
+{"uid":"514031421075521647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3324619513829507013.mp4"}
+{"uid":"9048266204772197725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16707819536271258781.mp4"}
+{"uid":"6474417095918669939","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2355729278531671471.mp4"}
+{"uid":"17097395657872083628","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- put popcorn packets on the table 3- Put the pip corn packet on the table 4- place packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"2450408447855838351.mp4"}
+{"uid":"15234324328020705202","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 packet on the table\n\u003c/PRED\u003e","video":"13751024410775284112.mp4"}
+{"uid":"3586869165373938098","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2763275243956697904.mp4"}
+{"uid":"847965215666635317","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":"9375603817328906131.mp4"}
+{"uid":"13926718370098804186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the middle drawer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13529614280397206732.mp4"}
+{"uid":"15215894552113420690","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"17086988855020896238.mp4"}
+{"uid":"18404833753362872521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the candy 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":"13737194010323311276.mp4"}
+{"uid":"4660476604309713195","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"5454535282535508355.mp4"}
+{"uid":"2510264011192160993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep glass in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7117004349295252265.mp4"}
+{"uid":"6664173046425810807","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put popcorn packets on the table 3- Put the pip corn packet on the table 4- place packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"1033417011584927331.mp4"}
+{"uid":"14255925398030109026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"972734907574416164.mp4"}
+{"uid":"16423957699396385041","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- place packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- put 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13728344012122341489.mp4"}
+{"uid":"4595516832364250032","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn 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 popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packets on the table 2- Put the pip corn packet on the table 3- place packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn 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","video":"7743076899036681080.mp4"}
+{"uid":"6410991378883798392","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"9057902864376155247.mp4"}
+{"uid":"10600152039995857657","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":"13901541838313555621.mp4"}
+{"uid":"5188594782330307835","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"3278966435225720929.mp4"}
+{"uid":"1897690569304650351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1598576156149579265.mp4"}
+{"uid":"14379836731603608899","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"14721819615026199174.mp4"}
+{"uid":"14599786315676378264","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":"14728870702362754773.mp4"}
+{"uid":"12132257333742019174","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"13833337532785319028.mp4"}
+{"uid":"6985959327726245708","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put popcorn packets on the table 3- Put the pip corn packet on the table 4- place packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"4959990223426093984.mp4"}
+{"uid":"6587596792816711048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10989768147219858308.mp4"}
+{"uid":"15662142549124822874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pen 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":"1820387665823016889.mp4"}
+{"uid":"3541468804904994222","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":"4502113259881241401.mp4"}
+{"uid":"13096518772577523522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7422451518020480351.mp4"}
+{"uid":"1359127022731864246","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"14361817813504194373.mp4"}
+{"uid":"10990368786784307480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWipe the white object off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2562102575631373382.mp4"}
+{"uid":"16278994599579875390","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":"16354821406946350331.mp4"}
+{"uid":"8595213239768083251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black 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":"8667236862894920334.mp4"}
+{"uid":"133331251016551125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17169501520836656110.mp4"}
+{"uid":"1617438817243361724","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"11526432725526304032.mp4"}
+{"uid":"5374117955215383615","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packets on the table 2- Put the pip corn packet on the table 3- place packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn 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 pip corn packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packets on the table\n\u003c/PRED\u003e","video":"3181127961088964063.mp4"}
+{"uid":"16129780560939157991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange snack packet 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":"9313584638032607259.mp4"}
+{"uid":"4393339984764717789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the red packet to the top left of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14416854853881333281.mp4"}
+{"uid":"10551598456937778284","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chair facing 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":"4423816560145959815.mp4"}
+{"uid":"8914473919073545408","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":"1246524793205049820.mp4"}
+{"uid":"14814736824879983778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17799060319815044015.mp4"}
+{"uid":"11140178218028801321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3995979494348658278.mp4"}
+{"uid":"18055857649532433344","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- place packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"6055303111958446132.mp4"}
+{"uid":"2494671088570983671","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"16458880461696203319.mp4"}
+{"uid":"7846431528644971815","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"8793972686849871832.mp4"}
+{"uid":"9280004922162596979","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"18107610211908659310.mp4"}
+{"uid":"14487729971964786355","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"840919672628316991.mp4"}
+{"uid":"67619238847049885","text":"\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"1995620718788425122.mp4"}
+{"uid":"15699383773180780506","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":"213122535817199859.mp4"}
+{"uid":"17365198123122830226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10515444940210190598.mp4"}
+{"uid":"1217576985856215336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7104184746932942056.mp4"}
+{"uid":"18056569606916280610","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table 6- put orange packet on the table 7- put orange packet on the table 8- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"4537228201800527055.mp4"}
+{"uid":"4336640276753801924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4421680182535311729.mp4"}
+{"uid":"16038642731000971044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"8751120155172078018.mp4"}
+{"uid":"17736096467183789647","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: place packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packets on the table 2- Put the pip corn packet on the table 3- place packet on the table 4- put orange packet on the table 5- put orange packet on the table\n\u003c/PRED\u003e","video":"6080300379914143175.mp4"}
+{"uid":"9878526499959225658","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put orange packet on the table 3- put orange packet on the table 4- put orange packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- Put the pip corn packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"18408440467981923518.mp4"}
+{"uid":"7790011340577020739","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"10162439616299662365.mp4"}
+{"uid":"9380779101947875580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glasses on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16838176495337303356.mp4"}
+{"uid":"14775631278335874156","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: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet into 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: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand 9- put the packet into the jar 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand 9- put the packet into the jar 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 packet into the jar\n\u003c/PRED\u003e","video":"17008659832376945997.mp4"}
+{"uid":"13535792593553270870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown chips 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":"11459513017139742023.mp4"}
+{"uid":"10989196638250029773","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit gummies 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 fruit gummies 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- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit gummies in the jar 2- put the pen into the pen stand 3- put the pen into the pen stand 4- put the packet into 5- put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit gummies 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 fruit gummies in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit gummies 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- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit gummies in the jar\n\u003c/PRED\u003e","video":"13922932274329013171.mp4"}
+{"uid":"17760595650078009319","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":"10924936902145027032.mp4"}
+{"uid":"13854409496352595410","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue white packet in the glass 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 white packet in the glass jar 2- put the pen into the pen stand 3- put the pen into the pen stand 4- put the packet into 5- put the pen into 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: Put the blue white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue white packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue white packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue white packet in the glass 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 white packet in the glass jar\n\u003c/PRED\u003e","video":"12323526502709651634.mp4"}
+{"uid":"12816041397213152581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the stamp box from the table and place it 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":"7557713578172739888.mp4"}
+{"uid":"13486233793294425171","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brownie packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17895558908713856782.mp4"}
+{"uid":"10384968679074137918","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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the brownie in the jar 2- put the pen into the pen stand 3- put the packet into the jar 4- put the pen into the pen stand 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brownie in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brownie 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:success:discrete:False\u003e\nput the brownie 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: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the brownie in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brownie 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 brownie in the jar\n\u003c/PRED\u003e","video":"9867238620171670444.mp4"}
+{"uid":"1376467804374564355","text":"\u003ctask:success:discrete:True\u003e\nput the fruit gummies 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 fruit gummies in the jar\n\u003c/PRED\u003e","video":"97228717113070333.mp4"}
+{"uid":"10430968950472699514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black 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":"9161366086980656084.mp4"}
+{"uid":"17407935430718133413","text":"\u003ctask:success:discrete:True\u003e\nPut the brownie packet  in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brownie packet  in the glass jar\n\u003c/PRED\u003e","video":"6532965936726474316.mp4"}
+{"uid":"10361018039491676594","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen stand 2- put the packet into 3- put the pen into the pen stand 4- put the packet into the jar 5- put the pen into 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: put the pen into 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 into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into 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 into the pen stand\n\u003c/PRED\u003e","video":"11841061865474561520.mp4"}
+{"uid":"11667138355070007527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move the register Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"38279986324629484.mp4"}
+{"uid":"1697792723595324245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon in spoons 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":"9714561579070908043.mp4"}
+{"uid":"17590254661291162183","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":"4941543095507333577.mp4"}
+{"uid":"14692213796436308520","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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen stand 2- put the packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen 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 pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into 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 into 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into 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":"18058718715008005533.mp4"}
+{"uid":"16291502763217850283","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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into 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: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 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 packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"4959837151664792774.mp4"}
+{"uid":"601682815937559227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3069931794610578013.mp4"}
+{"uid":"2932058776818781127","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"17910558331635170188.mp4"}
+{"uid":"11677196934180655739","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brownie packet  in the glass 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 brownie packet  in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brownie packet  in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brownie packet  in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 brownie packet  in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brownie packet  in the glass 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 brownie packet  in the glass jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into\n\u003c/PRED\u003e","video":"2287498086792103754.mp4"}
+{"uid":"8392381033089797025","text":"\u003ctask:success:discrete:True\u003e\nPut the brownie packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e","video":"13107137422787334450.mp4"}
+{"uid":"12112682163619272029","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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 the 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- put the packet into 3- put the pen into the pen stand 4- put the packet into the jar 5- put the pen into 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"11938079953873014970.mp4"}
+{"uid":"7675839655901341765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into 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":"17334236963461972839.mp4"}
+{"uid":"17080992205522485910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6862151612773510319.mp4"}
+{"uid":"4615283323475898520","text":"\u003ctask:success:discrete:True\u003e\nput the 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 packet in the jar\n\u003c/PRED\u003e","video":"7475635826015175445.mp4"}
+{"uid":"10709709620443705699","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- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- put the pen into the pen stand 3- put the pen into the pen stand 4- put the packet into 5- put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into 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- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet into 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 packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the jar\n\u003c/PRED\u003e","video":"2153342945031223793.mp4"}
+{"uid":"286950851022242640","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the 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: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the jar 2- put the pen into the pen stand 3- put the packet into the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"7946635268400350780.mp4"}
+{"uid":"1136020185370194383","text":"\u003ctask:success:discrete:True\u003e\nput the packet into 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 packet into the jar\n\u003c/PRED\u003e","video":"10057658722886516679.mp4"}
+{"uid":"14417191096446133621","text":"\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: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: Put the orange 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: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange pen in the pen stand 2- put the packet into 3- put the pen into the pen stand 4- put the packet into the jar 5- put the pen into 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: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: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","video":"9879960228493854625.mp4"}
+{"uid":"14083079882778894521","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":"2930087283029319004.mp4"}
+{"uid":"4612960445290201244","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- put the packet in the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into\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 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 packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:success:discrete:False\u003e\nput the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"4210736066451407194.mp4"}
+{"uid":"1589974956996467137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16564678310639774514.mp4"}
+{"uid":"3461092820713870767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the marker tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9165264027310091598.mp4"}
+{"uid":"6899138768661981217","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 the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- put the packet into the jar 3- put the pen into the pen stand 4- put the packet into the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3615063372957072569.mp4"}
+{"uid":"14583158291570904699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"2494113785765409412.mp4"}
+{"uid":"15608350316270215165","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 brownie packet in the glass 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brownie packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brownie packet in the glass jar 2- put the pen into the pen stand 3- put the packet into the jar 4- put the pen into the pen stand 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brownie packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10021900167204647473.mp4"}
+{"uid":"8691236305732554198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10466167600399719173.mp4"}
+{"uid":"6620112604714560502","text":"\u003ctask:success:discrete:True\u003e\nput the packet into 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 packet into the jar\n\u003c/PRED\u003e","video":"17336339183855759208.mp4"}
+{"uid":"10378479636299117582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the red 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":"16526827724273305020.mp4"}
+{"uid":"3881915014940708227","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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brownie packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brownie packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brownie packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brownie packet in the glass jar 2- put the pen into the pen stand 3- put the packet into the jar 4- done\n\u003c/PRED\u003e","video":"14201430252209841517.mp4"}
+{"uid":"4588210162133029350","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":"14632371088208178176.mp4"}
+{"uid":"8944315178024109241","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":"16719678777216713364.mp4"}
+{"uid":"5014481590640940262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop glass into 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":"16460856859330391627.mp4"}
+{"uid":"16394750639378240784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace two 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":"6835253230539870521.mp4"}
+{"uid":"5029913544318693039","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange pen in the pen stand\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","video":"10073096021117150797.mp4"}
+{"uid":"2999673194338561576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the dust particle down from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16354634532005068169.mp4"}
+{"uid":"3817979293388391714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12292378765977289920.mp4"}
+{"uid":"1819109657433708791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8452829523511756988.mp4"}
+{"uid":"8611516367380691635","text":"\u003ctask:success:discrete:True\u003e\nput the packet into 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 packet into the jar\n\u003c/PRED\u003e","video":"14026106945957475764.mp4"}
+{"uid":"5899331450693668424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16484194998981346751.mp4"}
+{"uid":"15275709959263717946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the straw in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15134106147505482753.mp4"}
+{"uid":"425404477334112406","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 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"6015958448379072629.mp4"}
+{"uid":"10563822231260390569","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- put the packet into the jar 2- Put the blue white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen stand 2- put the pen into the pen stand 3- put the packet into 4- put the pen into the pen stand 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into 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- put the packet into the jar 2- Put the blue white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: put the pen into 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: put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into 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":"10263263158240513920.mp4"}
+{"uid":"8254913650682376921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue white packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue white packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17146688886387723776.mp4"}
+{"uid":"12230598803476517783","text":"\u003ctask:success:discrete:False\u003e\nput the packet into 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 packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the packet into 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 packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the jar 2- put the pen into the pen stand 3- put the packet into the jar 4- done\n\u003c/PRED\u003e","video":"2614422282720234125.mp4"}
+{"uid":"12039732841206996345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18355987892254099696.mp4"}
+{"uid":"7383049449650944752","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brownie packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brownie packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brownie packet in glass 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brownie packet in glass jar 2- 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: Put the brownie packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brownie packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 brownie packet in glass jar\n\u003c/PRED\u003e","video":"15159569784096131410.mp4"}
+{"uid":"14799871307829047334","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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the pen stand 2- put the packet into the jar 3- put the pen into the pen stand 4- put the packet into the jar 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into Q: immediate next step? \u003cPRED\u003eA: 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 blue 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: 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: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: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","video":"14642891590135993877.mp4"}
+{"uid":"15667233151364490448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue marker in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11523261243345739277.mp4"}
+{"uid":"7626240932219816867","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask: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- put the packet into the jar 2- Put the blue white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask: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 the 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- put the packet into the jar 2- Put the blue white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- put the pen into the pen stand 3- put the packet into 4- put the pen into the pen stand 5- put the packet into the jar\n\u003c/PRED\u003e","video":"11453094378460140087.mp4"}
+{"uid":"2265451833889254816","text":"\u003ctask:success:discrete:True\u003e\nput the pen into 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 into the pen stand\n\u003c/PRED\u003e","video":"965954522402423530.mp4"}
+{"uid":"15537576975128338301","text":"\u003ctask:success:discrete:True\u003e\nput the pen into 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 into the pen stand\n\u003c/PRED\u003e","video":"12578668778581013266.mp4"}
+{"uid":"9186521347033302609","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 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 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the pen stand 2- put the packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"11382421664547128445.mp4"}
+{"uid":"9366754038628974929","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"15299118882543404328.mp4"}
+{"uid":"4714903878348289107","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: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: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- put the packet into the jar 2- Put the blue white packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the pen stand 2- put the pen into the pen stand 3- put the packet into 4- put the pen into the pen stand 5- put the packet into the jar\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: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: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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the packet into the jar 2- Put the blue white packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the pen stand\n\u003c/PRED\u003e","video":"3415244185818623352.mp4"}
+{"uid":"16220942334829722750","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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into 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 pen into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into 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 into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen stand 2- put the packet into the jar 3- put the pen into the pen stand 4- put the packet into the jar 5- done\n\u003c/PRED\u003e","video":"6160420916206106072.mp4"}
+{"uid":"3637435962519792524","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 packet into\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into\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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into 2- put the pen into the pen stand 3- put the packet into the jar 4- put the pen into the pen stand 5- put the packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into\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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the packet into\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17961752967480236521.mp4"}
+{"uid":"3879820049283233989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lids 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":"4492642754768591391.mp4"}
+{"uid":"17256560845668294138","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":"1191337707195305398.mp4"}
+{"uid":"17336016503544157583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet into\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet into Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 brownie 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 brownie in the jar\n\u003c/PRED\u003e","video":"13544488692550193704.mp4"}
+{"uid":"7529823582034250636","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: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brownie packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand 9- Put the brownie packet in glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brownie packet in glass 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- put the packet into the jar 2- Put the blue white packet in the glass jar 3- put the pen into the pen stand 4- put the pen into the pen stand 5- put the packet into 6- put the pen into the pen stand 7- put the packet into the jar 8- put the pen into the pen stand 9- Put the brownie packet in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3819848019363139781.mp4"}
+{"uid":"1074131610589824223","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":"476828751024478773.mp4"}
+{"uid":"6633937048824961200","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the carrot from the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the carrot from the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the carrot from the red bowl 2- pick the toy chilli from the orange bowl 3- place the toy chilli on the black table 4- pick the toy apple from the orange bowl 5- place the toy apple on the black table\n\u003c/PRED\u003e","video":"4338751101356099247.mp4"}
+{"uid":"8341904193861719465","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the toy strawberry Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the toy strawberry Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Move towards the toy strawberry\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the toy strawberry 2- place the toy apple on the black table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the toy strawberry\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the toy strawberry\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: immediate next step? \u003cPRED\u003eA: Move towards the toy strawberry\n\u003c/PRED\u003e","video":"15138844810161106327.mp4"}
+{"uid":"5132932900741075158","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the toy carrot 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy carrot\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Move towards the toy carrot\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the toy carrot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the toy carrot Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the toy carrot\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy carrot\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the toy carrot\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the toy carrot\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy carrot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy carrot 2- pick the toy chilli from the orange bowl 3- place the toy chilli on the black table 4- pick the toy apple from the orange bowl 5- place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the toy carrot Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3776980862888298652.mp4"}
+{"uid":"2715139594268861768","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: immediate next step? \u003cPRED\u003eA: place the carrot on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the carrot on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the carrot on the table 2- place the toy chilli on the black table 3- pick the toy apple from the orange bowl 4- place the toy apple on the black table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: place the carrot on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the carrot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the carrot on the table\n\u003c/PRED\u003e","video":"2496179874816938828.mp4"}
+{"uid":"15363464040488152674","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy apple on the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy apple on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy apple on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: immediate next step? \u003cPRED\u003eA: drop the toy apple on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy apple on the table. 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: drop the toy apple on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy apple on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12275029739460108380.mp4"}
+{"uid":"16674509832322402752","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy chilli on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy chilli on the black table 2- pick the toy apple from the orange bowl 3- place the toy apple on the black table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy chilli on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 toy chilli on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy chilli on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: immediate next step? \u003cPRED\u003eA: place the toy chilli on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: place the toy chilli on the black table\n\u003c/PRED\u003e","video":"13316413985051452333.mp4"}
+{"uid":"7218567350637851022","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the apple from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the apple from the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the apple from the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the apple from the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the apple from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the apple from the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: immediate next step? \u003cPRED\u003eA: pick up the apple from the bowl\n\u003c/PRED\u003e","video":"2679870570133853090.mp4"}
+{"uid":"9630205825697281466","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":"10127904320611684732.mp4"}
+{"uid":"492856614690235687","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: immediate next step? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the apple on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e","video":"15390217934481454432.mp4"}
+{"uid":"13026094011377253848","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy carrot on the table 2- pick the toy chilli from the orange bowl 3- place the toy chilli on the black table 4- pick the toy apple from the orange bowl 5- place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the toy carrot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e","video":"16264415648917478302.mp4"}
+{"uid":"4221743419090122320","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":"11252105521540258820.mp4"}
+{"uid":"3749994304197748044","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":"1999790603477049715.mp4"}
+{"uid":"8755790798875486748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the berry 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":"1482071904700080508.mp4"}
+{"uid":"13987423983151908856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop toffee in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17677511990632065735.mp4"}
+{"uid":"7193057124254896477","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red chilly on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 chilly 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:False\u003e\nput the yellow packet 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red chilly on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the red chilly on the table 2- place the toy apple on the black table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red chilly on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: immediate next step? \u003cPRED\u003eA: place the red chilly on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: place the red chilly on the table\n\u003c/PRED\u003e","video":"8845492863094624521.mp4"}
+{"uid":"4811546638007478651","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy strawberry from the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy strawberry from the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy strawberry from the red bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the toy strawberry from the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy strawberry from the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the toy strawberry from the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy strawberry from the red bowl\n\u003c/PRED\u003e","video":"3735383152687915343.mp4"}
+{"uid":"712040943226521914","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the carrot from the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1363023368332060669.mp4"}
+{"uid":"18212719208152196541","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the toy carrot from the orange bowl.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the toy carrot from the orange bowl.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the toy carrot from the orange bowl.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the toy carrot from the orange bowl. 2- pick the toy chilli from the orange bowl 3- place the toy chilli on the black table 4- pick the toy apple from the orange bowl 5- place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the toy carrot from the orange bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the toy carrot from the orange bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the toy carrot from the orange 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":"14590185865026743084.mp4"}
+{"uid":"11571650622672308020","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the toy chili from the orange bowl.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the toy chili from the orange 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: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: immediate next step? \u003cPRED\u003eA: pick up the toy chili from the orange bowl.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the toy chili from the orange bowl.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the toy chili from the orange bowl.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the toy chili from the orange bowl. 2- pick the toy apple from the orange bowl 3- place the toy apple on the black table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the toy chili from the orange 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":"135677922637940731.mp4"}
+{"uid":"2473054280569230668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8107853501404364692.mp4"}
+{"uid":"1783743822960031030","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":"1007821904067897025.mp4"}
+{"uid":"12735692002474277244","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the toy carrot from the orange bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the toy carrot from the orange bowl. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2362616119294037872.mp4"}
+{"uid":"5894533799528687707","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy chili on the table. 2- place the toy apple on the black table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy chili on the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: immediate next step? \u003cPRED\u003eA: drop the toy chili on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy chili on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy chili on the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: drop the toy chili on the table.\n\u003c/PRED\u003e\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\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy chili on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8106250002146505323.mp4"}
+{"uid":"7289263967740560918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"17088757321532960469.mp4"}
+{"uid":"3329160888808840710","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy apple on the black table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: immediate next step? \u003cPRED\u003eA: place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy apple on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 toy apple on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17234417299909598494.mp4"}
+{"uid":"16395202105497507737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12726016201138710353.mp4"}
+{"uid":"8752326258154998938","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the toy carrot from the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the toy carrot from the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4281222474597367956.mp4"}
+{"uid":"526681792256107232","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":"9147864291583947511.mp4"}
+{"uid":"960869255515867753","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy carrot on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: place the toy carrot on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy carrot on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy carrot on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy carrot on the black table 2- pick the toy chilli from the orange bowl 3- place the toy chilli on the black table 4- pick the toy apple from the orange bowl 5- place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy carrot on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: immediate next step? \u003cPRED\u003eA: place the toy carrot on the black table\n\u003c/PRED\u003e","video":"14170504505483071695.mp4"}
+{"uid":"8536428650396036954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1436896049058655187.mp4"}
+{"uid":"11990600677025192239","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":"10024422364546383839.mp4"}
+{"uid":"8598104575692418322","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":"1578267051520677932.mp4"}
+{"uid":"16677803218105674278","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the toy apple from the orange bowl 2- place the toy apple on the black table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the toy apple from the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the toy apple from the orange 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: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: immediate next step? \u003cPRED\u003eA: pick the toy apple from the orange bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the toy apple from the orange bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick the toy apple from the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the toy apple from the orange 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":"10138836691565415649.mp4"}
+{"uid":"16730443180549867701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pens in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15605644331260707393.mp4"}
+{"uid":"5826418303475391130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4292856175063608531.mp4"}
+{"uid":"5284277345341576052","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the toy chilli from the orange bowl 2- place the toy chilli on the black table 3- pick the toy apple from the orange bowl 4- place the toy apple on the black table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the toy chilli from the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: immediate next step? \u003cPRED\u003eA: pick the toy chilli from the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the toy chilli from the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the toy chilli from the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick the toy chilli from the orange bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the toy chilli from the orange bowl\n\u003c/PRED\u003e","video":"5085854570834735643.mp4"}
+{"uid":"18105931577099565461","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the toy chilli\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: immediate next step? \u003cPRED\u003eA: Pick the toy chilli\n\u003c/PRED\u003e\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\u003ctask:success:discrete:False\u003e\nPick the toy chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the toy chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Pick the toy chilli\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the toy chilli\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the toy chilli 2- pick the toy apple from the orange bowl 3- place the toy apple on the black table 4- done\n\u003c/PRED\u003e","video":"1803807091829277115.mp4"}
+{"uid":"14165026183648057666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3319243832603464431.mp4"}
+{"uid":"9644886184354134940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17120831851631501369.mp4"}
+{"uid":"7561834519037347824","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: place the toy carrot on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy carrot on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: immediate next step? \u003cPRED\u003eA: place the toy carrot on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy carrot on the table. 2- place the toy chilli on the black table 3- pick the toy apple from the orange bowl 4- place the toy apple on the black table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy carrot on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy carrot on the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy carrot on the table.\n\u003c/PRED\u003e","video":"8092835052811118278.mp4"}
+{"uid":"5457518200847168782","text":"\u003ctask:success:discrete:False\u003e\nPick up the toy carrot from the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toy in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy carrot from the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy carrot from the red bowl 2- pick the toy chilli from the orange bowl 3- place the toy chilli on the black table 4- pick the toy apple from the orange bowl 5- place the toy apple on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot from the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot from the red bowl\n\u003c/PRED\u003e","video":"662351693013979022.mp4"}
+{"uid":"10100662419129032766","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy red chili on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy red chili on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the toy red chili on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the toy chilli on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy chilli on the table 2- place the toy apple on the black table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy red chili on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy chilli on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy red chili on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy red chili on the table 2- place the toy apple on the black table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy red chili on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy chilli on the table\n\u003c/PRED\u003e","video":"1445304627553556798.mp4"}
+{"uid":"2971095149700557552","text":"\u003ctask:success:discrete:False\u003e\npick the toy carrot from the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick the toy carrot from the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the toy carrot from the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the toy carrot from the orange 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: empty fruit out of red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the toy carrot from the orange bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the toy carrot from the orange bowl\n\u003c/PRED\u003e","video":"15909817317638876016.mp4"}
+{"uid":"16386169512627155413","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":"8610625344792678334.mp4"}
+{"uid":"17212349071700433339","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the red chilly from the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the red chilly from the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the red chilly from the red bowl 2- place the toy chilli on the black table 3- pick the toy apple from the orange bowl 4- place the toy apple on the black table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the red chilly from the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the red chilly from the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: immediate next step? \u003cPRED\u003eA: pick up the red chilly from the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the red chilly from the red 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":"2770047123693338123.mp4"}
+{"uid":"2367486690279843001","text":"\u003ctask:success:discrete:False\u003e\nPick up the toy red chili from the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy red chili from the red bowl 2- pick the toy apple from the orange bowl 3- place the toy apple on the black 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 toy red chili from the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy red chili from the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy red chili from the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy red chili from the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the toy red chili from the red bowl\n\u003c/PRED\u003e","video":"15874172127125103049.mp4"}
+{"uid":"17411746235743553054","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the fruit from 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: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: immediate next step? \u003cPRED\u003eA: Pick up the fruit from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the fruit from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the fruit from the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the fruit from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the fruit from the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the fruit from 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":"7228566751097460083.mp4"}
+{"uid":"5046792485204805810","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: immediate next step? \u003cPRED\u003eA: pick up the toy apple from the orange bowl.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the toy apple from the orange bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the toy apple from the orange bowl.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the toy apple from the orange bowl. 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the toy apple from the orange bowl.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the toy apple from the orange bowl.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the toy apple from the orange 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":"999995513394365988.mp4"}
+{"uid":"5433558015132529455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen holder 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":"17860108775630347575.mp4"}
+{"uid":"15329199689713687561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: immediate next step? \u003cPRED\u003eA: Place the fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fruit on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9282928730307617047.mp4"}
+{"uid":"12727405173732436549","text":"\u003ctask:success:discrete:True\u003e\nPick up the toy carrot Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 toy carrot\n\u003c/PRED\u003e","video":"8451861930554010525.mp4"}
+{"uid":"12609228099549074466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple 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":"15577897870364167835.mp4"}
+{"uid":"14171153470707340908","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 toy strawberry on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl 2- place the toy carrot on the black table 3- pick the toy chilli from the orange bowl 4- place the toy chilli on the black table 5- pick the toy apple from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy strawberry on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy strawberry on the table\n\u003c/PRED\u003e","video":"14387182639812020394.mp4"}
+{"uid":"10751129084667837980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12587884723449838260.mp4"}
+{"uid":"6519458658488213693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the hint bottle 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":"2743222272665619748.mp4"}
+{"uid":"15930383976085130217","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy carrot on the table 2- place the toy chilli on the black table 3- pick the toy apple from the orange bowl 4- place the toy apple on the black table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty fruit out of red bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty fruit out of red bowl. last 20 steps: 1- pick the toy carrot from the orange bowl Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e","video":"9145808220755544953.mp4"}
+{"uid":"3381601924441497764","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1504904761696613365.mp4"}
+{"uid":"11435056963443551360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18275442520585164383.mp4"}
+{"uid":"561827813757158246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a spoon 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":"4167363919356440900.mp4"}
+{"uid":"497801009861489811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sachets 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":"256219941154756057.mp4"}
+{"uid":"3366266503315169561","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":"17710610440565452445.mp4"}
+{"uid":"4617591507823511826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16704415968931355811.mp4"}
+{"uid":"4163334448685632573","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the 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: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 remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"17346097729259683905.mp4"}
+{"uid":"4936723425068620449","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the 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 remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- 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: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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"15482900506456801495.mp4"}
+{"uid":"10383136572711275332","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3728666955889550510.mp4"}
+{"uid":"16702421543834955172","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"5469830021871406590.mp4"}
+{"uid":"15607019722786897760","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"17903796833478358037.mp4"}
+{"uid":"338538520024434751","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7509459809269102032.mp4"}
+{"uid":"7770024203292306338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"5571366348188585908.mp4"}
+{"uid":"6450631219663545043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14861116611255356066.mp4"}
+{"uid":"4325858984841058280","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"15417678953938376115.mp4"}
+{"uid":"7929191855459632132","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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange 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 snacks from the tray. last 20 steps: 1- Put the orange 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- place pipcorn packet on the table 4- Put the red packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e","video":"16518321597254810535.mp4"}
+{"uid":"11929343227069412556","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":"12525285986192934417.mp4"}
+{"uid":"6069960252552042616","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13181416577806392029.mp4"}
+{"uid":"7146493257924962268","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the red packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"3563617257786536977.mp4"}
+{"uid":"1336757603751417988","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":"5212910741133696809.mp4"}
+{"uid":"8730607088288983272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver 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":"5467476730936964033.mp4"}
+{"uid":"2757151847671578165","text":"\u003ctask:success:discrete:False\u003e\nPut the red packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13141832465453355409.mp4"}
+{"uid":"8388875362718975625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Orange packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3412373289127803342.mp4"}
+{"uid":"4482135568472668810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi 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":"2637657568714168459.mp4"}
+{"uid":"9700847553459368625","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"14970535455872746863.mp4"}
+{"uid":"6927692995127703287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17265346020906111522.mp4"}
+{"uid":"13763255547086279567","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"9547876667306886548.mp4"}
+{"uid":"5658700870129956411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9421707783553460669.mp4"}
+{"uid":"15353618171001875548","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":"7812928235145745755.mp4"}
+{"uid":"316687275887626997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fruit 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":"14581567172570189938.mp4"}
+{"uid":"8207387397534232975","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"15148836811048364639.mp4"}
+{"uid":"10034257142699898199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13031079856337052647.mp4"}
+{"uid":"795248585068427820","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the 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 remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- done\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":"8441747245430362304.mp4"}
+{"uid":"3398522065567602257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5438090571507509936.mp4"}
+{"uid":"2579039444063403317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7222093494089760321.mp4"}
+{"uid":"12452745243735929747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a Pistachio at the right side inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6597015630149603098.mp4"}
+{"uid":"8078333832986549514","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"8448112899693169997.mp4"}
+{"uid":"9584043793342322938","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"16384820857958318610.mp4"}
+{"uid":"12119338976082561214","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\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: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:planning:freeform\u003e\ncurrent goal is: please remove the snacks 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 snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e","video":"12340636662247558329.mp4"}
+{"uid":"14403729486630692028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9404869015602981222.mp4"}
+{"uid":"1078672108274516207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the marker to the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16962723144206966249.mp4"}
+{"uid":"13906802196083269621","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn 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 pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- Put the red packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"16958458469597853128.mp4"}
+{"uid":"3814244368494693055","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"1456526330087171825.mp4"}
+{"uid":"2653797929468293412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10251868533664817277.mp4"}
+{"uid":"16465557884582483683","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":"7583901573525303038.mp4"}
+{"uid":"11495280754784006224","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"8826543773338233541.mp4"}
+{"uid":"9069521713564735041","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"9878174009297162958.mp4"}
+{"uid":"10685162443359096108","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":"7246593685822137211.mp4"}
+{"uid":"3034266932055961322","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"11671751491295019133.mp4"}
+{"uid":"5534750112200577661","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- Put the red packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"462742190467510017.mp4"}
+{"uid":"6565380287316496765","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"14593322028438211163.mp4"}
+{"uid":"8174133616592227746","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"4717396631273618823.mp4"}
+{"uid":"8250859941754193281","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e","video":"4259678746608089726.mp4"}
+{"uid":"6027758053677504862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15202481970398853428.mp4"}
+{"uid":"10083123779257749264","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"5234665556330136739.mp4"}
+{"uid":"8086365290436492373","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"7107919011999202230.mp4"}
+{"uid":"8238785678139244788","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":"14938746446344970359.mp4"}
+{"uid":"13998934975992598453","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the 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 remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"7199204793819685656.mp4"}
+{"uid":"7516016757238428219","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table 7- place pipcorn packet on the 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 remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on 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 table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16187611572636750907.mp4"}
+{"uid":"9107707011349959564","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"925114067109186553.mp4"}
+{"uid":"8865959278115104640","text":"\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn 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 popcorn packet on the table\n\u003c/PRED\u003e","video":"4425485224670342778.mp4"}
+{"uid":"9137143736082160233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white box in the middle of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13517243747192732377.mp4"}
+{"uid":"892068957955797464","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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask: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 remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the 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 remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- Put the red packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2030160201258803751.mp4"}
+{"uid":"15269474762707917864","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":"15869703325053176082.mp4"}
+{"uid":"12361376856823951718","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"6150274050350512833.mp4"}
+{"uid":"11145958251285722343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10163301413303523699.mp4"}
+{"uid":"7528623789314129331","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask: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 remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"14065782000405950102.mp4"}
+{"uid":"10232675230938896675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"16289512249190568821.mp4"}
+{"uid":"11000749393128598229","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"11918215249277112036.mp4"}
+{"uid":"752629861905166160","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"15365668760607702493.mp4"}
+{"uid":"1627015787226197669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pool noodle inside 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":"545058219986748593.mp4"}
+{"uid":"14244690875339552328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cups 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":"12019918000322969709.mp4"}
+{"uid":"3737023525793563317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput right cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10688642063277258949.mp4"}
+{"uid":"11691374326509464443","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":"7903558783553693308.mp4"}
+{"uid":"15647491216466533453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the fruits Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15613973064239241702.mp4"}
+{"uid":"11947949965077196843","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: 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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table\n\u003c/PRED\u003e","video":"13012996474847432941.mp4"}
+{"uid":"2413319071463040661","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn 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: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn 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 pipcorn packet on the table\n\u003c/PRED\u003e","video":"3645314863316538191.mp4"}
+{"uid":"17563984566692066185","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn 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 pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e","video":"5319224019234780774.mp4"}
+{"uid":"13150716883597138901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on 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 table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5267099617703888454.mp4"}
+{"uid":"14394345279616618907","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table Q: immediate next step? \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\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: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:planning:freeform\u003e\ncurrent goal is: please remove the snacks 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 snacks from the tray. last 20 steps: 1- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- place pipcorn packet on the table 3- Put the red packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"3162403480822622842.mp4"}
+{"uid":"5853590025506262978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy packet inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9396466134394355137.mp4"}
+{"uid":"3150964160090101609","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"16860596117666616631.mp4"}
+{"uid":"13570258362572359243","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":"16881089578659265264.mp4"}
+{"uid":"8571033248372894468","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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table 3- Put the orange packet on the table 4- place pipcorn packet on the table 5- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"6011754255530543844.mp4"}
+{"uid":"8106907404876510731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17934083452815555500.mp4"}
+{"uid":"8586481429302136954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the oatmeal 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":"13484537492457838560.mp4"}
+{"uid":"2286266306064335306","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place orange packet on the table 2- put orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e","video":"13943015259723329224.mp4"}
+{"uid":"9464350870161347930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi 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":"13311343014612061244.mp4"}
+{"uid":"364329665478925942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate packet in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4987926437213744136.mp4"}
+{"uid":"10056481108822130578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11165431899085070300.mp4"}
+{"uid":"11349622094967749308","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- Put the red packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put 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 remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"6998677783526742901.mp4"}
+{"uid":"16456463472961829492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10032266303815342364.mp4"}
+{"uid":"3210599751985092134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5268740206406889581.mp4"}
+{"uid":"9161674193587420714","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- Put the red packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"14543574752788808773.mp4"}
+{"uid":"8822699202588946983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop 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":"13423799341358213996.mp4"}
+{"uid":"13244077877325285734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12919611505000662659.mp4"}
+{"uid":"2647428705868632514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the large 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":"8594219008028912019.mp4"}
+{"uid":"5586381923578747021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen 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":"7843878970871198792.mp4"}
+{"uid":"9850723671764411902","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":"17665175992885146837.mp4"}
+{"uid":"12998704413426240756","text":"\u003ctask:success:discrete:True\u003e\nput markers in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e","video":"5289733717997256715.mp4"}
+{"uid":"12383474862952328130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5113801654931986113.mp4"}
+{"uid":"7514673979016487594","text":"\u003ctask:success:discrete:True\u003e\nGo back to the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go back to the room\n\u003c/PRED\u003e","video":"15586609224172962250.mp4"}
+{"uid":"1318295284479760547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput that yellow 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":"8017200607570702590.mp4"}
+{"uid":"7366129345037307812","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pour the juice in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPour the juice in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2752252066083426615.mp4"}
+{"uid":"13550186709036765446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput star shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8317681550190930157.mp4"}
+{"uid":"6462297149463810788","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15297817118852252448.mp4"}
+{"uid":"3224946186729046874","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the cap of the tropicana juice bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16113465852024574849.mp4"}
+{"uid":"9601910594378673557","text":"\u003ctask:success:discrete:True\u003e\nput yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand 8- put pink marker in the stand 9- put green marker in the stand 10- put yellow marker in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand 8- put pink marker in the stand 9- put green marker in the stand 10- put yellow marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16311455861595783841.mp4"}
+{"uid":"17946031519917545314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15624133466375432246.mp4"}
+{"uid":"15761568354923582089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the red 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":"11956271546286447603.mp4"}
+{"uid":"4579053114465180770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14941295810518746347.mp4"}
+{"uid":"7454634733558191985","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tropicana juice bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14068362570692884160.mp4"}
+{"uid":"13566732174605276481","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put markers in the stand 2- put sticky notes in the stand 3- put pink marker in the stand 4- put green marker in the stand 5- put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput markers in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput markers in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand Q: immediate next step? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put markers in the stand\n\u003c/PRED\u003e","video":"16523670882318697866.mp4"}
+{"uid":"15574395264718376196","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: open the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table Q: immediate next step? \u003cPRED\u003eA: open the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the cap of the tropicana juice bottle 2- Pour the juice in the plastic glass 3- close the cap of the tropicana juice bottle 4- Place the tropicana juice bottle on the table 5- open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cap of the tropicana juice 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\nopen the cap of the tropicana juice 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":"365800498566731042.mp4"}
+{"uid":"14242471126562953975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9302566919803706480.mp4"}
+{"uid":"4283187555899765296","text":"\u003ctask:success:discrete:False\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put yellow marker in the stand 5- put markers in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e","video":"1654058820380862949.mp4"}
+{"uid":"11638956082956711553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5321884471263567526.mp4"}
+{"uid":"7561736014620393819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12066624572716749107.mp4"}
+{"uid":"13789659783563237836","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pink marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15305328540928266798.mp4"}
+{"uid":"10385017751926884275","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass Q: immediate next step? \u003cPRED\u003eA: close the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: close the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cap of the tropicana juice bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cap of the tropicana juice bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- close the cap of the tropicana juice bottle 2- Place the tropicana juice bottle on the table 3- open the fridge 4- place the tropicana juice bottle in the fridge 5- close the fridge\n\u003c/PRED\u003e","video":"2127568539484955240.mp4"}
+{"uid":"6846601436259395944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic knifes 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":"14318756381777728727.mp4"}
+{"uid":"5745112310698308494","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand Q: immediate next step? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the stand 2- put green marker in the stand 3- put yellow marker in the stand 4- done\n\u003c/PRED\u003e","video":"16503866393633749860.mp4"}
+{"uid":"12196014126888660164","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand 8- put pink marker in the stand 9- put green marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in the stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand 8- put pink marker in the stand 9- put green marker in the stand Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e","video":"9225326477723552185.mp4"}
+{"uid":"16341988702315248231","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":"12628431931328972811.mp4"}
+{"uid":"1121620366282826316","text":"\u003ctask:success:discrete:True\u003e\nput yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e","video":"4457288570647177112.mp4"}
+{"uid":"15600934726498089693","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the stand 2- put black pen in the stand 3- put yellow marker in the stand 4- put markers in the stand 5- put sticky notes in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e","video":"4564368476213894814.mp4"}
+{"uid":"4021474508553103901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9215112537652293602.mp4"}
+{"uid":"939021027196415864","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: Pour the juice in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour the juice in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the juice in the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the juice in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the juice in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle Q: immediate next step? \u003cPRED\u003eA: Pour the juice in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the juice in the plastic glass 2- close the cap of the tropicana juice bottle 3- Place the tropicana juice bottle on the table 4- open the fridge 5- place the tropicana juice bottle in the fridge\n\u003c/PRED\u003e","video":"7934065077502564829.mp4"}
+{"uid":"9324017529103187926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12246890628115207055.mp4"}
+{"uid":"11770564646427954518","text":"\u003ctask:success:discrete:False\u003e\nPlace the tropicana juice 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle Q: immediate next step? \u003cPRED\u003eA: Place the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tropicana juice bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: Place the tropicana juice 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 tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tropicana juice bottle on the table 2- open the fridge 3- place the tropicana juice bottle in the fridge 4- close the fridge 5- done\n\u003c/PRED\u003e","video":"11788069347051468357.mp4"}
+{"uid":"11123649530791101625","text":"\u003ctask:success:discrete:True\u003e\nplace the tropicana juice bottle in the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tropicana juice bottle in the fridge\n\u003c/PRED\u003e","video":"985342902976904945.mp4"}
+{"uid":"116823156579263371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12126301805200774889.mp4"}
+{"uid":"16078963445290043741","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me Q: immediate next step? \u003cPRED\u003eA: Go back to the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go back to the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me . last 20 steps: 1- Go to the room 2- Pick up the jacket Q: immediate next step? \u003cPRED\u003eA: Go back to the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me . last 20 steps: 1- Go to the room 2- Pick up the jacket Q: next 5 steps? \u003cPRED\u003eA: 1- Go back to the room 2- Put the jacket on the chair 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go back to the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo back to 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\nGo back to 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","video":"14507011735932328195.mp4"}
+{"uid":"8871185507242234048","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10469080218932800700.mp4"}
+{"uid":"3357410502220928623","text":"\u003ctask:success:discrete:True\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e","video":"13916712258120577751.mp4"}
+{"uid":"2677676704541597771","text":"\u003ctask:success:discrete:True\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e","video":"385146043529221203.mp4"}
+{"uid":"3447848888520601411","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7821032036664118752.mp4"}
+{"uid":"16045862537230011925","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tropicana juice bottle in the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: place the tropicana juice bottle in the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tropicana juice bottle in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tropicana juice bottle in the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle 7- Place the tropicana juice bottle on the table 8- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the tropicana juice bottle in the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle 7- Place the tropicana juice bottle on the table 8- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the tropicana juice bottle in the fridge 2- close the fridge 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tropicana juice bottle in the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16693882517519502651.mp4"}
+{"uid":"6347707593500443349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue pen inside the pen stand 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":"10224997417716384323.mp4"}
+{"uid":"8173835910365679208","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand 8- put pink marker in the stand Q: immediate next step? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand 7- put sticky notes in the stand 8- put pink marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the stand 2- put yellow marker in the stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e","video":"861827267276658411.mp4"}
+{"uid":"5010255123346734883","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky notes in the stand 2- put pink marker in the stand 3- put green marker in the stand 4- put yellow marker in the stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky notes in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sticky notes in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand 6- put markers in the stand Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky notes in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky notes in the stand\n\u003c/PRED\u003e","video":"1471227707943017808.mp4"}
+{"uid":"14698922633754373232","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the jacket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the jacket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17520052304653411255.mp4"}
+{"uid":"10052218762168568264","text":"\u003ctask:success:discrete:True\u003e\nput green marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e","video":"16177553890344454808.mp4"}
+{"uid":"5161821257535582621","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sticky notes in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput sticky notes in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3665651413290357076.mp4"}
+{"uid":"2660107832835998913","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":"2412727920651975709.mp4"}
+{"uid":"7317033749775105729","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass on the table 2- open the cap of the tropicana juice bottle 3- Pour the juice in the plastic glass 4- close the cap of the tropicana juice bottle 5- Place the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e","video":"9777296285569853980.mp4"}
+{"uid":"10384380607208166718","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand 5- put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e","video":"9693248191858492142.mp4"}
+{"uid":"8226487863812465294","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: Put the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tropicana juice bottle on the table 2- place the plastic glass on the table 3- open the cap of the tropicana juice bottle 4- Pour the juice in the plastic glass 5- close the cap of the tropicana juice bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tropicana juice bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tropicana juice 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:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: Put the tropicana juice bottle on the table\n\u003c/PRED\u003e","video":"4960033193147128788.mp4"}
+{"uid":"17446788453729471498","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the stand 2- put yellow marker in the stand 3- put markers in the stand 4- put sticky notes in the stand 5- put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the stand\n\u003c/PRED\u003e","video":"11990989352210500320.mp4"}
+{"uid":"4275914752096437500","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle 7- Place the tropicana juice bottle on the table 8- open the fridge 9- place the tropicana juice bottle in the fridge Q: immediate next step? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle 7- Place the tropicana juice bottle on the table 8- open the fridge 9- place the tropicana juice bottle in the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- close the fridge 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17509724914899861815.mp4"}
+{"uid":"1184859851697771045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the first row of organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11448988378613232228.mp4"}
+{"uid":"12147402527720249372","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":"4892001160161975362.mp4"}
+{"uid":"8187102325781438033","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle 7- Place the tropicana juice bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the tropicana juice bottle in the fridge 3- close the fridge 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a cup of orange jucie for me. last 20 steps: 1- open the fridge 2- Put the tropicana juice bottle on the table 3- place the plastic glass on the table 4- open the cap of the tropicana juice bottle 5- Pour the juice in the plastic glass 6- close the cap of the tropicana juice bottle 7- Place the tropicana juice bottle on the table Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e","video":"11860397031967258727.mp4"}
+{"uid":"17943298769923393548","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tropicana juice bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the tropicana juice bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15450668668511033277.mp4"}
+{"uid":"9518099568230102651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can 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":"9194167891860028551.mp4"}
+{"uid":"2242087532904839942","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me Q: immediate next step? \u003cPRED\u003eA: Pick up the jacket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the jacket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me . last 20 steps: 1- Go to the room Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the jacket 2- Go back to the room 3- Put the jacket on the chair 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the jacket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 jacket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me . last 20 steps: 1- Go to the room Q: immediate next step? \u003cPRED\u003eA: Pick up the jacket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the jacket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11704418043410112474.mp4"}
+{"uid":"1741745636118750623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15770648540629729204.mp4"}
+{"uid":"17425179108253082793","text":"\u003ctask:success:discrete:True\u003e\nGo to the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e","video":"9748499350188015815.mp4"}
+{"uid":"9662106463658283211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"352354957354998483.mp4"}
+{"uid":"17880994547600815685","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up?. last 20 steps: 1- put black pen in the stand 2- put black pen in the stand 3- put black pen in the stand 4- put black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in the stand 2- put markers in the stand 3- put sticky notes in the stand 4- put pink marker in the stand 5- put green marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I dropped my pen holder on the ground. Can you please clean up? Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e","video":"4192450766415163878.mp4"}
+{"uid":"9976784398434965927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut chocolate 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":"463477143319965016.mp4"}
+{"uid":"1582472097440325468","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the jacket on the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the jacket on the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me . last 20 steps: 1- Go to the room 2- Pick up the jacket 3- Go back to the room Q: immediate next step? \u003cPRED\u003eA: Put the jacket on the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring my jacket from the room across the supplie cabinet, back to me . last 20 steps: 1- Go to the room 2- Pick up the jacket 3- Go back to the room Q: next 5 steps? \u003cPRED\u003eA: 1- Put the jacket on the chair 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the jacket on the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 bring my jacket from the room across the supplie cabinet, back to me Q: immediate next step? \u003cPRED\u003eA: Put the jacket on the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the jacket on the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7644721765245440827.mp4"}
+{"uid":"1182467361146939690","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":"15816300292442515608.mp4"}
+{"uid":"5923242579150139083","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":"7107307912162931236.mp4"}
+{"uid":"4426288439533030782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2633713312525551349.mp4"}
+{"uid":"13168220651773579617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2569210284140827957.mp4"}
+{"uid":"47039707591869415","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"4967344916727104459.mp4"}
+{"uid":"17952377179982372985","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put apple in the bowl 3- put cherrys in the bowl 4- put grapes in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14274605889587119212.mp4"}
+{"uid":"5215933891992611593","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":"10723529615840012805.mp4"}
+{"uid":"2517328012720872561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14103649004786237584.mp4"}
+{"uid":"10759267161460696605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tiles in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13110847355915523835.mp4"}
+{"uid":"5254445861695403362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in the second row first column of 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":"9615404499213919000.mp4"}
+{"uid":"4904207592955638757","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- 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 packet on the table\n\u003c/PRED\u003e","video":"7921766705927685323.mp4"}
+{"uid":"12355900030336261782","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the 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 the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the 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 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 the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"8401930270614904329.mp4"}
+{"uid":"7393736827935910973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in a paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11293703506934030917.mp4"}
+{"uid":"17771910397505989074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet into the white wool 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":"13805707988075035833.mp4"}
+{"uid":"1286613204596949316","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl 13- put grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl 13- put grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"10339321546775686291.mp4"}
+{"uid":"14752151219528998411","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the 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":"13318980822689633099.mp4"}
+{"uid":"7531795655587133081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11714989420514004339.mp4"}
+{"uid":"9288662266068534461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"586351196693696896.mp4"}
+{"uid":"11219702733160759119","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl 13- put grapes in the bowl 14- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl 13- put grapes in the bowl 14- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"15344762327359692464.mp4"}
+{"uid":"2859291116541980163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7073640724827902591.mp4"}
+{"uid":"6979008191676840953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange ball into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3935998382801950950.mp4"}
+{"uid":"12935807161342542888","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes in the bowl 2- put orange in the bowl 3- put banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grapes in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e","video":"18271341989391824981.mp4"}
+{"uid":"16839517827596690691","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 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 the packet on the table 2- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the 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 the packet on the table 2- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"10280507020444307858.mp4"}
+{"uid":"14922174676918387398","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16836208174225225600.mp4"}
+{"uid":"11751808690209731256","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put green apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put green apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put green apple in the bowl 2- put orange in the bowl 3- put green grapes in the bowl 4- put grapes in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green apple in the bowl\n\u003c/PRED\u003e","video":"1511744465047560652.mp4"}
+{"uid":"10622104560514010679","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green grapes in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put green grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green grapes in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put green grapes in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put green grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"987657179811724377.mp4"}
+{"uid":"8429072019165067870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"14594548727494552292.mp4"}
+{"uid":"18137945658659192883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6979959601372941371.mp4"}
+{"uid":"13467898921415314017","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"6126295942369660241.mp4"}
+{"uid":"6906268996429935023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coffee cups in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2317372464417468118.mp4"}
+{"uid":"7933867509097557013","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl Q: immediate next step? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put cherrys in the bowl 2- put apple in the bowl 3- put apple in the bowl 4- put cherrys in the bowl 5- put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cherrys in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e","video":"13861321910173727269.mp4"}
+{"uid":"16995696844651070001","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"13693651433873838981.mp4"}
+{"uid":"17878215074688072112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put cherrys in the bowl 3- put grapes in the bowl 4- put orange in the bowl 5- put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"399514551807084022.mp4"}
+{"uid":"5584473951523579537","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":"10045602232950118720.mp4"}
+{"uid":"2763945164530527869","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cherrys in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put cherrys in the bowl 2- put cherrys in the bowl 3- put apple in the bowl 4- put apple in the bowl 5- put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cherrys 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":"1229555393262381649.mp4"}
+{"uid":"8923280756329366293","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put cherrys in the bowl 3- put cherrys in the bowl 4- put apple in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"8987952871513323494.mp4"}
+{"uid":"8586835637983699392","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl 13- put grapes in the bowl 14- put orange in the bowl 15- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl 12- put cherrys in the bowl 13- put grapes in the bowl 14- put orange in the bowl 15- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14460821951756939184.mp4"}
+{"uid":"4754467064334540018","text":"\u003ctask:success:discrete:True\u003e\nPut the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table 10- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table 10- Put the packet 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 packet on the table\n\u003c/PRED\u003e","video":"5415771274124827549.mp4"}
+{"uid":"7802014885792101446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1297110987654998299.mp4"}
+{"uid":"9172554690058875999","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12537400142304062846.mp4"}
+{"uid":"7349797676842163761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"640899056344755769.mp4"}
+{"uid":"6902126854041721494","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the 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 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"14377292188191023970.mp4"}
+{"uid":"7332547969619072835","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 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 the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"1734797561099342782.mp4"}
+{"uid":"12978973356131200995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14170595066497921893.mp4"}
+{"uid":"12327133068047428517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17911662464832958094.mp4"}
+{"uid":"6275328644702366974","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put green grapes in the bowl 3- put grapes in the bowl 4- put apple in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15319071482950118004.mp4"}
+{"uid":"16531428384347755418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses 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":"1254393421269742622.mp4"}
+{"uid":"7636971874785090218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the pile 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":"16345421637090624350.mp4"}
+{"uid":"7626738875791466442","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put cherrys in the bowl 2- put grapes in the bowl 3- put orange in the bowl 4- put banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put cherrys in the bowl 9- put cherrys in the bowl 10- put apple in the bowl 11- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put cherrys in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cherrys in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cherrys in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8992382896460926370.mp4"}
+{"uid":"7276546656136913427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13144158105849034860.mp4"}
+{"uid":"4314484683213483493","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl 5- put grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put orange in the bowl 3- put cherrys in the bowl 4- put cherrys in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"855301922860866933.mp4"}
+{"uid":"4031345535371343957","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grapes in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put orange in the bowl 2- put green apple in the bowl 3- put orange in the bowl 4- put green grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes in the bowl 2- put apple in the bowl 3- put orange in the bowl 4- put cherrys in the bowl 5- put cherrys in the bowl\n\u003c/PRED\u003e","video":"8249715158918708352.mp4"}
+{"uid":"9080055366223666772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"15428170376479393668.mp4"}
+{"uid":"7436449788405516101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4787032618889351288.mp4"}
+{"uid":"10125725311759575203","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2776117450697393940.mp4"}
+{"uid":"15978135811328220079","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5358481327510914703.mp4"}
+{"uid":"10161320815883230967","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3065223211995798609.mp4"}
+{"uid":"7551482926559822194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack orange glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14134738236710788313.mp4"}
+{"uid":"7304028314400046794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"12867849654329436043.mp4"}
+{"uid":"2949871861632826235","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11494346372004360753.mp4"}
+{"uid":"17838664518097708843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes 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":"17617576861359730139.mp4"}
+{"uid":"14012102841025114628","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"17941162011149913320.mp4"}
+{"uid":"1847370316217544484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange chocolate in the glass 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e","video":"5552507512309970215.mp4"}
+{"uid":"6136545141600863528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7797933895635112826.mp4"}
+{"uid":"4276132373048094910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13315441875011573662.mp4"}
+{"uid":"14674686204899268629","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7659910974912466390.mp4"}
+{"uid":"16518207394569760295","text":"\u003ctask:success:discrete:True\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"4593712300434589044.mp4"}
+{"uid":"8774496034415989199","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"6299969160382865866.mp4"}
+{"uid":"14712027733966710730","text":"\u003ctask:success:discrete:True\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e","video":"833742799510323070.mp4"}
+{"uid":"4040799017260521650","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"7728496881556843146.mp4"}
+{"uid":"9181733769689119319","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- done\n\u003c/PRED\u003e","video":"14795538449154738193.mp4"}
+{"uid":"18154339286140743515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8372519000807323365.mp4"}
+{"uid":"14912349022591146545","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange chocolate in the glass 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10023523089428427276.mp4"}
+{"uid":"16038546247225269901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the white packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4224234874796204468.mp4"}
+{"uid":"14904637932431006712","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":"6993151028506538927.mp4"}
+{"uid":"8532630008449065711","text":"\u003ctask:success:discrete:True\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e","video":"14357567872949555069.mp4"}
+{"uid":"11803474670269884163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8973185582947469063.mp4"}
+{"uid":"17672992942024821109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap 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":"1779388326528738066.mp4"}
+{"uid":"13232626280727426198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8517722685940368624.mp4"}
+{"uid":"15259023574186471636","text":"\u003ctask:success:discrete:True\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"13464930358941830797.mp4"}
+{"uid":"8632742337915442045","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":"18127102811454858552.mp4"}
+{"uid":"11341439815355133186","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- done\n\u003c/PRED\u003e","video":"4422593806128343501.mp4"}
+{"uid":"4842290290392439677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5295909945614140229.mp4"}
+{"uid":"3866133840417291748","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange chocolate in the glass 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5322289748170998470.mp4"}
+{"uid":"6506611871448845840","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange chocolate in the glass 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e","video":"16686982699189837731.mp4"}
+{"uid":"11327441341440093386","text":"\u003ctask:success:discrete:True\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e","video":"4908959235624233693.mp4"}
+{"uid":"15713704562342853205","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the green chocolate in the glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e","video":"17557214897052235414.mp4"}
+{"uid":"5088631020927674093","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1014373694564950973.mp4"}
+{"uid":"13978611967840645912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11076186075840049672.mp4"}
+{"uid":"16643354612314880808","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18367310124773475130.mp4"}
+{"uid":"16714120520319179786","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup 7- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup 7- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12567618447119015111.mp4"}
+{"uid":"5410003546517298512","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pens in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4883439110934830254.mp4"}
+{"uid":"6544405241419840990","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":"415659808283809278.mp4"}
+{"uid":"1213433732920599281","text":"\u003ctask:success:discrete:False\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the cup 2- done\n\u003c/PRED\u003e","video":"6780840383070529748.mp4"}
+{"uid":"12768305049630170401","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies 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 candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup 7- Put the chocolate in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup 6- put the sugar candy in the cup 7- Put the chocolate in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15287422902545505199.mp4"}
+{"uid":"4579797319766402772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10432516449570007210.mp4"}
+{"uid":"10207375186413803397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12303396849129479606.mp4"}
+{"uid":"734762821731464956","text":"\u003ctask:success:discrete:True\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e","video":"18436024294979934238.mp4"}
+{"uid":"17079450318645185316","text":"\u003ctask:success:discrete:False\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8496805771153418833.mp4"}
+{"uid":"13154443581982946618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"17624871328060800210.mp4"}
+{"uid":"10079901299082322784","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e","video":"1482754515608579519.mp4"}
+{"uid":"1228095050806681790","text":"\u003ctask:success:discrete:True\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"8157035066049611291.mp4"}
+{"uid":"1590062466405951533","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the cup 2- put the sugar candy in the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"3891330171907678471.mp4"}
+{"uid":"5545286013953884061","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6339897499662294244.mp4"}
+{"uid":"15874190922850491931","text":"\u003ctask:success:discrete:True\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e","video":"5233072591602140787.mp4"}
+{"uid":"14304843546213896672","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange chocolate in the glass 2- put the sugar candy in the cup 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14287831066964861914.mp4"}
+{"uid":"7353755768772061409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white pebble in the left transparent 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":"16314383929729259592.mp4"}
+{"uid":"15560132507894088535","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup 2- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e","video":"11620205928682704876.mp4"}
+{"uid":"1436674801494664482","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the green chocolate in the glass 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green chocolate in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green chocolate in the glass\n\u003c/PRED\u003e","video":"10046485395458248351.mp4"}
+{"uid":"1228746322667025158","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17634152704181776291.mp4"}
+{"uid":"12679059215245153485","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: 1- put the sugar candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e","video":"13292129999138750963.mp4"}
+{"uid":"447733967295898068","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the cup Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the cup 2- put the sugar candy in the cup 3- put the sugar candy in the cup 4- put the sugar candy in the cup 5- put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the cup\n\u003c/PRED\u003e","video":"13979329197228168711.mp4"}
+{"uid":"9900423123275358139","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14503113497073141171.mp4"}
+{"uid":"18345845971704375121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHold the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15032954646178619526.mp4"}
+{"uid":"9269536343706098044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17274627919790900199.mp4"}
+{"uid":"16234766817834422782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8674760720493054379.mp4"}
+{"uid":"13246452702751847355","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- Put brown tissue 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 brown tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- Put brown tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut brown tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1380395871109592454.mp4"}
+{"uid":"12374514556288998076","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the Pistachio inside the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17215864557950037905.mp4"}
+{"uid":"8255400620959532201","text":"\u003ctask:success:discrete:False\u003e\nPut glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass Q: immediate next step? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put glass on the table 2- pick up the tissue 3- drop the tissue on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e","video":"14429115501687634328.mp4"}
+{"uid":"15789154528023657180","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue 2- drop the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e","video":"8069226716893284601.mp4"}
+{"uid":"7109615114770235215","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e","video":"16239683840999874893.mp4"}
+{"uid":"14889879432306864065","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the Pistachio inside the cup 2- drop the pistachio in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e","video":"3595278866985351336.mp4"}
+{"uid":"17301918368276838018","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the Pistachio inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15899940665554058092.mp4"}
+{"uid":"7038894111812774092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15546137703822109977.mp4"}
+{"uid":"8095620539694036052","text":"\u003ctask:success:discrete:True\u003e\ndrop the cup on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup on the white table\n\u003c/PRED\u003e","video":"2841628876129340089.mp4"}
+{"uid":"4930581222686472933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11951080236040319425.mp4"}
+{"uid":"13365751306858352816","text":"\u003ctask:success:discrete:False\u003e\nPlace the cup on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass Q: immediate next step? \u003cPRED\u003eA: Place the cup on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the white table 2- drop the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the cup on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1310653277165027744.mp4"}
+{"uid":"15114884760269248604","text":"\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"1250180871510200220.mp4"}
+{"uid":"1070400746292859017","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the cup on the white table 5- Go to the drawers\n\u003c/PRED\u003e","video":"422903599627481911.mp4"}
+{"uid":"4784111911912395340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass 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":"3175997181388854960.mp4"}
+{"uid":"480368364674008084","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the glass 2- move the cup towards the table 3- drop the cup on the table 4- pick up the tissue 5- drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Pick up the glass\n\u003c/PRED\u003e\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","video":"11909976878236631452.mp4"}
+{"uid":"17670534186431438754","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the Pistachio inside the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11879840775687361486.mp4"}
+{"uid":"15930429921808714075","text":"\u003ctask:success:discrete:True\u003e\nPlace the Pistachio inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e","video":"1250196169273119716.mp4"}
+{"uid":"9847731745113793875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13965995546854621471.mp4"}
+{"uid":"113614633958221194","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk. last 20 steps: 1- pick up the green candy from the tray 2- exit the room 3- place the green candy on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk. last 20 steps: 1- pick up the green candy from the tray 2- exit the room 3- place the green candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7983649633547595020.mp4"}
+{"uid":"13093124459741572188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the cardboard 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":"3971498334858951474.mp4"}
+{"uid":"745552177797464111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13852768165485650692.mp4"}
+{"uid":"11775147299592437037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the box of white rose Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10010399189085417745.mp4"}
+{"uid":"5008060332097125252","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the cup on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17045283225904542878.mp4"}
+{"uid":"3829996621841114277","text":"\u003ctask:success:discrete:True\u003e\npick up the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e","video":"524934526087657753.mp4"}
+{"uid":"4650683379962745394","text":"\u003ctask:success:discrete:False\u003e\nPlace the Pistachio inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the Pistachio inside the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13703082658831470354.mp4"}
+{"uid":"12661675120425847544","text":"\u003ctask:success:discrete:False\u003e\nput pista in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in the glass 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e","video":"11091646449889320342.mp4"}
+{"uid":"2285161511685185862","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e","video":"13185502616860736056.mp4"}
+{"uid":"9276535149527121297","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5743410377729783212.mp4"}
+{"uid":"3080598519416279399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3082125973210474754.mp4"}
+{"uid":"16780457950870289234","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9247176659569159336.mp4"}
+{"uid":"9969557463805664160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the Pistachio glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16257272909926836320.mp4"}
+{"uid":"14572886544515348570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cross 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":"73775268983440366.mp4"}
+{"uid":"8874257373457563545","text":"\u003ctask:success:discrete:True\u003e\ndrop the pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e","video":"1876969363288501376.mp4"}
+{"uid":"14280661882217197192","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nKeep two tissue paper on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Keep two tissue paper on the white table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Keep two tissue paper on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nKeep two tissue paper on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: immediate next step? \u003cPRED\u003eA: Keep two tissue paper on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Keep two tissue paper on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Keep two tissue paper on the white table\n\u003c/PRED\u003e","video":"10955966904699060289.mp4"}
+{"uid":"9948032466652075010","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cup towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cup towards 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":"8916859747527549786.mp4"}
+{"uid":"5879038451674084904","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the cup 2- drop the cup on the white table 3- Go to the drawers 4- Pick up the glass 5- move the cup towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e","video":"13687235215150561662.mp4"}
+{"uid":"16108722304262504586","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15044453517874778275.mp4"}
+{"uid":"16786669879965877009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove 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":"11583685631713849995.mp4"}
+{"uid":"8524808003332574472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16725724726685471725.mp4"}
+{"uid":"2299077944666886311","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12681556423539313854.mp4"}
+{"uid":"9606410355925331703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18296662664746757329.mp4"}
+{"uid":"3400140060789833192","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the candy inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4606118237185447353.mp4"}
+{"uid":"13273376076774638207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18358296830910206477.mp4"}
+{"uid":"15964112937179956033","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the cup 2- drop the candy in the cup 3- drop the cup on the white table 4- Go to the drawers 5- Pick up the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e","video":"7532636141031647942.mp4"}
+{"uid":"8426632958870271737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the red packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5545313861391005816.mp4"}
+{"uid":"1389768251160613143","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bring me a green laffy taffy from the mk to my desk. last 20 steps: 1- pick up the green candy from the tray 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the green candy on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk. last 20 steps: 1- pick up the green candy from the tray 2- exit the room Q: immediate next step? \u003cPRED\u003eA: place the green candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk Q: immediate next step? \u003cPRED\u003eA: place the green candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green candy on the table\n\u003c/PRED\u003e","video":"15590634406609338884.mp4"}
+{"uid":"13766491025454619938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14112536440137887456.mp4"}
+{"uid":"3804040097482384977","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":"3677944752910808544.mp4"}
+{"uid":"8555195981209668797","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e","video":"12143072737259744443.mp4"}
+{"uid":"12981542851815238661","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the Pistachio inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"321892737994265096.mp4"}
+{"uid":"15313508474679060564","text":"\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"8311023801284177723.mp4"}
+{"uid":"17041979179865099911","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- pick up the tissue 15- drop the tissue on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- pick up the tissue 15- drop the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16655729852438051687.mp4"}
+{"uid":"16589309713462860302","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 cup on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the cup on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the cup on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup on the white table 2- Go to the drawers 3- Pick up the glass 4- move the cup towards the table 5- drop the cup on the table\n\u003c/PRED\u003e","video":"9170880793671245862.mp4"}
+{"uid":"10108134318548325719","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- drop the cup on the white table 4- Go to the drawers 5- Pick up the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"16227663431934628462.mp4"}
+{"uid":"11241465480137713812","text":"\u003ctask:success:discrete:True\u003e\ndrop the pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e","video":"12228234468029259591.mp4"}
+{"uid":"17257918912404808599","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":"5424263656421016359.mp4"}
+{"uid":"7960326633339771240","text":"\u003ctask:success:discrete:True\u003e\nput pista in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e","video":"9874443536251944637.mp4"}
+{"uid":"2292883469251397125","text":"\u003ctask:success:discrete:False\u003e\nPut brown tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put brown tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: immediate next step? \u003cPRED\u003eA: Put brown tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2731047187832715237.mp4"}
+{"uid":"14589487129358986892","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green candy from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green candy from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green candy from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the green candy from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the green candy from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green candy from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green candy from the tray 2- exit the room 3- place the green candy on the table 4- done\n\u003c/PRED\u003e","video":"10818077414478649231.mp4"}
+{"uid":"12281792676467643516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17349955867851504128.mp4"}
+{"uid":"16255436420620831153","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the cup on the white table 5- Go to the drawers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4786753817018066645.mp4"}
+{"uid":"12385203992990410234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the left chair backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15234233444827334156.mp4"}
+{"uid":"9193056318968399328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16521696524168898892.mp4"}
+{"uid":"1861454550081188892","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- pick up the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- pick up the tissue Q: immediate next step? \u003cPRED\u003eA: drop the tissue on the table\n\u003c/PRED\u003e","video":"7103623830839909199.mp4"}
+{"uid":"2169670953360052912","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":"12789012778745601123.mp4"}
+{"uid":"5334550769793439983","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Keep two tissue paper on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- Keep two tissue paper on the white table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table 14- Keep two tissue paper on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nKeep two tissue paper on the white 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":"16187400334189414348.mp4"}
+{"uid":"13241859340383719912","text":"\u003ctask:success:discrete:False\u003e\nput orange packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the cup on the white table 5- Go to the drawers\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e","video":"1323209569724179544.mp4"}
+{"uid":"16078054414957261563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2830181041607774460.mp4"}
+{"uid":"10426250493844191975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange ball in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"854020746940358161.mp4"}
+{"uid":"8366477606987748743","text":"\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk. last 20 steps: 1- pick up the green candy from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- place the green candy on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a green laffy taffy from the mk to my desk. last 20 steps: 1- pick up the green candy from the tray Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"17097792468949133049.mp4"}
+{"uid":"8608353961537534914","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the glass 2- drop the cup on the white table 3- Go to the drawers 4- Pick up the glass 5- move the cup towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e","video":"2931360948754126767.mp4"}
+{"uid":"14790987522085488975","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in the glass 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15151718726043028989.mp4"}
+{"uid":"9188107403377978194","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e","video":"3713233524811087676.mp4"}
+{"uid":"17578996126145386145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrive to the left corner table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9841329985932504045.mp4"}
+{"uid":"4090177107843724647","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the drawers\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the drawers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1661879775005854615.mp4"}
+{"uid":"6142627074309188848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7097890868632161879.mp4"}
+{"uid":"9779585518392697281","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17436119065794422023.mp4"}
+{"uid":"120590507085728947","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the glass 2- drop the candy in the cup 3- drop the cup on the white table 4- Go to the drawers 5- Pick up the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e","video":"4599008656034970823.mp4"}
+{"uid":"5967977986540605956","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the Pistachio inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the Pistachio inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7856970955988095072.mp4"}
+{"uid":"16791909175042310515","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table Q: immediate next step? \u003cPRED\u003eA: drop the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup on the table 2- pick up the tissue 3- drop the tissue on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15515785320380962566.mp4"}
+{"uid":"17436901536752440505","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8964842771235643668.mp4"}
+{"uid":"11376736150652510074","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9000640375162100122.mp4"}
+{"uid":"4177857942100739572","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put glass on the table 2- Go to the drawers 3- Pick up the glass 4- move the cup towards the table 5- drop the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e","video":"5037804807682703495.mp4"}
+{"uid":"4992672085123046663","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the candy inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4865919821020234876.mp4"}
+{"uid":"11152009333204907628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7532079627779878138.mp4"}
+{"uid":"15101770670550910479","text":"\u003ctask:success:discrete:True\u003e\nPlace the candy inside the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e","video":"11005457952693718645.mp4"}
+{"uid":"2775032972836096267","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cup towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass Q: next 5 steps? \u003cPRED\u003eA: 1- move the cup towards the table 2- drop the cup on the table 3- pick up the tissue 4- drop the tissue on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cup towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cup towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: move the cup towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cup towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass Q: immediate next step? \u003cPRED\u003eA: move the cup towards the table\n\u003c/PRED\u003e","video":"13100137570687631854.mp4"}
+{"uid":"16740615716165889263","text":"\u003ctask:success:discrete:True\u003e\ndrop the pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e","video":"11063668833553190915.mp4"}
+{"uid":"826814680680949509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3960400124979664788.mp4"}
+{"uid":"812505306435442698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"11015849437761903275.mp4"}
+{"uid":"7046271754432133604","text":"\u003ctask:success:discrete:True\u003e\nput orange packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the glass\n\u003c/PRED\u003e","video":"9602476708138624879.mp4"}
+{"uid":"3096428862443643481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glass in the top right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5531884401445559370.mp4"}
+{"uid":"13744943656739993676","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":"11616875862395647426.mp4"}
+{"uid":"17537426728812295790","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":"18241613509273896738.mp4"}
+{"uid":"1169682223960520566","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green candy from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the green candy from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15264266095929609611.mp4"}
+{"uid":"2560009643676943018","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the cup 2- drop the cup on the table 3- pick up the tissue 4- drop the tissue on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers Q: immediate next step? \u003cPRED\u003eA: Pick the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Pick the cup\n\u003c/PRED\u003e","video":"9356503342343910380.mp4"}
+{"uid":"3066316628527384720","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5347539703116151224.mp4"}
+{"uid":"14675522348383152851","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pista in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pista in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15373650989896323323.mp4"}
+{"uid":"16994086576414885783","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut orange packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6098125906901312761.mp4"}
+{"uid":"9241806720913733555","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup on white 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":"10651970909947573278.mp4"}
+{"uid":"8015099843319217729","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":"3944716685951377492.mp4"}
+{"uid":"9727545030376929792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"16821885820791575358.mp4"}
+{"uid":"15318058028857838780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3029780051332478988.mp4"}
+{"uid":"5389610057426581305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a scooper from 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":"11852981702343825048.mp4"}
+{"uid":"11128056244039395706","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18169153649654746506.mp4"}
+{"uid":"2099285959195371777","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16573066200308878234.mp4"}
+{"uid":"13682467972416016608","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":"8256049276977475648.mp4"}
+{"uid":"11803478063805552216","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the cup 2- drop the candy in the cup 3- drop the cup on the white table 4- Go to the drawers 5- Pick up the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the cup\n\u003c/PRED\u003e","video":"10372292375151491952.mp4"}
+{"uid":"2225823221578923889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13595775018257522909.mp4"}
+{"uid":"6780993572036508889","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Place the cup on white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on white table 2- Go to the drawers 3- Pick up the glass 4- move the cup towards the table 5- drop the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 cup on white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: Place the cup on white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on white table\n\u003c/PRED\u003e","video":"12827726898429227200.mp4"}
+{"uid":"6543681564636236368","text":"\u003ctask:success:discrete:False\u003e\nPut orange packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange packet in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the cup on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Put orange packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put orange packet in the glass\n\u003c/PRED\u003e","video":"8940213914602527281.mp4"}
+{"uid":"3867887045811380799","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the cup on the white table 3- Go to the drawers 4- Pick up the glass 5- move the cup towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16420388011307794813.mp4"}
+{"uid":"69942504037005236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the brush 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":"2597070395744039705.mp4"}
+{"uid":"5410962941818539939","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in the cup\n\u003c/PRED\u003e","video":"14796533529409501857.mp4"}
+{"uid":"15729742184833171796","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the drawers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the drawers 2- Pick up the glass 3- move the cup towards the table 4- drop the cup on the table 5- pick up the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the drawers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the drawers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the drawers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Go to the drawers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table Q: immediate next step? \u003cPRED\u003eA: Go to the drawers\n\u003c/PRED\u003e","video":"1142766497322801079.mp4"}
+{"uid":"502007977787271115","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the drawer 2- drop the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- drop the pistachio in the cup 2- drop the pistachio in the cup 3- drop the pistachio in the cup 4- drop the pistachio in the cup 5- drop the candy in the cup 6- drop the candy in the cup 7- drop the candy in the cup 8- drop the candy in the cup 9- drop the cup on the white table 10- Go to the drawers 11- Pick up the glass 12- move the cup towards the table 13- drop the cup on the table Q: immediate next step? \u003cPRED\u003eA: Go to the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Go to the drawer\n\u003c/PRED\u003e","video":"3023983984886195028.mp4"}
+{"uid":"13402720000332152047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"5298853192199432967.mp4"}
+{"uid":"3018727651814586814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen 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":"18055316775191286666.mp4"}
+{"uid":"3546534141336967513","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle holder 2- pick up the knife from the table 3- place the knife in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in 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 knife in middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in 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 knife in middle holder\n\u003c/PRED\u003e","video":"322108977849770062.mp4"}
+{"uid":"1273099665341389840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoon into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15019690373892906706.mp4"}
+{"uid":"5087841234010084715","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- pick up the knife from the table 3- place the knife in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"9191327476782455276.mp4"}
+{"uid":"7632429819979981097","text":"\u003ctask:success:discrete:True\u003e\nput spoon in left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e","video":"14536516618517399039.mp4"}
+{"uid":"9029898973234999242","text":"\u003ctask:success:discrete:True\u003e\nplace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"6929867149772416703.mp4"}
+{"uid":"14614010637816031565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the coconut bottle on 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":"4091408220449872682.mp4"}
+{"uid":"4531709957449669534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4122405834226176894.mp4"}
+{"uid":"6280084046854158450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace bath toys in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5185313809809679369.mp4"}
+{"uid":"18119887803030210267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the first glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7206348457758672243.mp4"}
+{"uid":"4866775321268469089","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the Plastic knife 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":"11381540853077664844.mp4"}
+{"uid":"18408277675656643868","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the knife from the table 2- place the knife in the holder 3- pick up the knife from the table 4- place the knife in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the knife 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: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6563398277980451334.mp4"}
+{"uid":"10856193241261171051","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the  holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the  holder 2- place the fork in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the  holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fork in the  holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: place the fork in the  holder\n\u003c/PRED\u003e","video":"6969521699039448860.mp4"}
+{"uid":"3268388137852442382","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in 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: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in left holder 2- pick up the knife from the table 3- place the knife in the holder 4- pick up the knife from the table 5- place 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 spoon in left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in 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":"103884964005779720.mp4"}
+{"uid":"29533583912732254","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- put the Plastic knife in 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 Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- put the Plastic knife in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the Plastic knife 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":"18270878874194295956.mp4"}
+{"uid":"15233082197246785540","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- pick up the knife from the table 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"12521434693045115174.mp4"}
+{"uid":"16087475599014048132","text":"\u003ctask:success:discrete:False\u003e\nput the Plastic knife 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 Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the Plastic knife in the pen holder 2- pick up the knife from the table 3- place the knife in the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put the Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put the Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Plastic knife 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":"7579830171781439153.mp4"}
+{"uid":"9202095841222548525","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right holder 2- place the fork in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in 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 fork in right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in 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":"7422069131230216536.mp4"}
+{"uid":"3212656971824378596","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput knife in middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"937617776595865163.mp4"}
+{"uid":"16735300741787096309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple 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":"471424306677487664.mp4"}
+{"uid":"2877571012575817177","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- pick up the knife from the table Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- pick up the knife from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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":"16888847337035402244.mp4"}
+{"uid":"5414339826917185258","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the Plastic Fork 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 Plastic Fork in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the Plastic Fork in the pen holder 2- place the fork in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put the Plastic Fork in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Plastic Fork in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Plastic Fork 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 Plastic Fork in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8255368360897275362.mp4"}
+{"uid":"6217271306615631880","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: pick up the fork from table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fork from table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the fork from table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fork 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fork from table 2- place the fork in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fork 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fork from table\n\u003c/PRED\u003e","video":"14978734618255605270.mp4"}
+{"uid":"6387759632829257351","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the Plastic Fork in the pen holder 2- place the spoon in the holder 3- place the spoon in the holder 4- pick up the knife from the table 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the Plastic Fork in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder Q: immediate next step? \u003cPRED\u003eA: put the Plastic Fork in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Plastic Fork 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 Plastic Fork in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put the Plastic Fork in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Plastic Fork 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":"12736718515064173592.mp4"}
+{"uid":"876471788069852953","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon in left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7059697894186470644.mp4"}
+{"uid":"17686727728968124195","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- pick up the knife from the table 4- place the knife in the holder 5- pick up the knife from the table\n\u003c/PRED\u003e","video":"12569131644812808120.mp4"}
+{"uid":"12693659627523100855","text":"\u003ctask:success:discrete:True\u003e\nput fork in right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e","video":"2755813431515509234.mp4"}
+{"uid":"9435477025995385291","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put the Plastic spoon in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Plastic spoon in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Plastic spoon in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the Plastic spoon in the pen holder 2- pick up the knife from the table 3- place the knife in the holder 4- pick up the knife from the table 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put the Plastic spoon 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 Plastic spoon in the pen holder\n\u003c/PRED\u003e","video":"17166103607167193873.mp4"}
+{"uid":"11575907587515234002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a blue pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17967502245364356.mp4"}
+{"uid":"11898429384652537901","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":"942448493309306960.mp4"}
+{"uid":"7335403650478863842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11443512606973574821.mp4"}
+{"uid":"8455758298037212662","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Plastic knife 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 Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put the Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: put the Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the Plastic knife in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the Plastic knife in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17837674287121692826.mp4"}
+{"uid":"9573660560790885648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the ball with holes in left side 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":"11951495087107117009.mp4"}
+{"uid":"12625272830696479986","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the Plastic spoon in the pen holder 2- place the spoon in the holder 3- pick up the knife from the table 4- place the knife in the holder 5- pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the Plastic spoon 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 Plastic spoon in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Plastic spoon 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:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put the Plastic spoon in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the Plastic spoon in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Plastic spoon in the pen holder\n\u003c/PRED\u003e","video":"6908546138020838381.mp4"}
+{"uid":"7599129046269482215","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the knife 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":"2691818103845482472.mp4"}
+{"uid":"17794889521285810536","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e","video":"16816458981526355338.mp4"}
+{"uid":"2135381400062344621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6857010751139748128.mp4"}
+{"uid":"2826982696881866312","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the knife from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the knife from the table 2- place the knife in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the knife from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17594745216835164142.mp4"}
+{"uid":"1188567646893179153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5093931804335632483.mp4"}
+{"uid":"18382188053243548372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2206667176187942938.mp4"}
+{"uid":"980972187640025199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the forks  in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10640021730226431256.mp4"}
+{"uid":"7364507781084940529","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the Plastic Fork in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the Plastic Fork 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":"9586231925481871637.mp4"}
+{"uid":"189632542433882017","text":"\u003ctask:success:discrete:True\u003e\nplace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"7762176451114293883.mp4"}
+{"uid":"12403367575715240807","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in 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:discriminative:discrete:True\u003e\nput fork in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder Q: immediate next step? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right holder 2- place the spoon in the holder 3- place the spoon in the holder 4- pick up the knife from the table 5- place the knife in the holder\n\u003c/PRED\u003e","video":"13275672469838412757.mp4"}
+{"uid":"10259769765758806929","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":"17014889184686878619.mp4"}
+{"uid":"17870160347039716608","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the Plastic spoon in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the Plastic spoon 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":"10734144100293107613.mp4"}
+{"uid":"17297515958130837660","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nEnter into 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":"17237298203462768656.mp4"}
+{"uid":"5299872508895408982","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: put spoon in left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in left holder 2- place the spoon in the holder 3- pick up the knife from the table 4- place the knife in the holder 5- pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in 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 spoon in left holder\n\u003c/PRED\u003e","video":"335113495869332850.mp4"}
+{"uid":"5493455287429748803","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the Plastic spoon in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the Plastic spoon 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":"16493492059483451937.mp4"}
+{"uid":"13568819563829189991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- pick up the knife from the table 9- place the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- pick up the knife from the table 9- place the knife in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e","video":"624930435855043181.mp4"}
+{"uid":"6071975822436363920","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place the fork in the holder\n\u003c/PRED\u003e","video":"12321098994232524430.mp4"}
+{"uid":"16511015617709946094","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- put knife in middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put knife in middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput knife in middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- pick up the knife from the table 7- place the knife in the holder 8- put knife in middle holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3499331114370892418.mp4"}
+{"uid":"15037339234237998336","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":"7619475130258807006.mp4"}
+{"uid":"8139155959850743154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14094088195023221055.mp4"}
+{"uid":"123091106569500846","text":"\u003ctask:success:discrete:True\u003e\nplace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the knife in the holder\n\u003c/PRED\u003e","video":"11316439994118591525.mp4"}
+{"uid":"2000738815791160119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon 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":"9461829041436264602.mp4"}
+{"uid":"8321306088320972840","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the knife from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the knife 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":"16003060427673357150.mp4"}
+{"uid":"3404976660079991609","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork in the  holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"9578423695536129534.mp4"}
+{"uid":"14311220307294981259","text":"\u003ctask:success:discrete:True\u003e\nput the Plastic Fork 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 Plastic Fork in the pen holder\n\u003c/PRED\u003e","video":"10371808914546789905.mp4"}
+{"uid":"3254849693051331549","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the fork from table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the fork 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","video":"15276887450083904542.mp4"}
+{"uid":"17186793158588320795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5899293333904391176.mp4"}
+{"uid":"17935074807043513586","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the untensils in the containers Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- pick up the knife from the table 3- place the knife in the holder 4- pick up the knife from the table 5- place the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the untensils in the containers. last 20 steps: 1- pick up the fork from table 2- place the fork in the  holder 3- place the fork in the holder 4- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"1263479332578740040.mp4"}
+{"uid":"3194078139122898052","text":"\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"10958965625215158004.mp4"}
+{"uid":"3044742816002178179","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17677321390776844876.mp4"}
+{"uid":"3921048200440253708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3450936432416887602.mp4"}
+{"uid":"16734010214793634987","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the oreo into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the oreo into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the oreo into the bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: drop the oreo into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the oreo into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the oreo into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the oreo into the bowl\n\u003c/PRED\u003e","video":"11194059297394676826.mp4"}
+{"uid":"16106206344539324320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6710312460788054120.mp4"}
+{"uid":"11129079513819413478","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":"11948960642210977391.mp4"}
+{"uid":"11663846142021382882","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"9208627226076024922.mp4"}
+{"uid":"2304582942292880695","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the big white bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e","video":"4073275158418553311.mp4"}
+{"uid":"7100254811759267165","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":"7747149838089079258.mp4"}
+{"uid":"7695165410018717471","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":"4565290861588537820.mp4"}
+{"uid":"14109151086239682420","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16912152014400013831.mp4"}
+{"uid":"18067023961256027021","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the big white bowl 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e","video":"15161341561629354657.mp4"}
+{"uid":"14185278798506031456","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the rxbar chocolate into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar chocolate into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the rxbar chocolate into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the rxbar chocolate into bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the rxbar chocolate into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the rxbar chocolate into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar chocolate into bowl\n\u003c/PRED\u003e","video":"10609733649128391477.mp4"}
+{"uid":"10451980658235661501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14601759269761858395.mp4"}
+{"uid":"9082577384617834417","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate bar in the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate bar in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate bar in the small bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate bar in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate bar in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate bar in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate bar in the small bowl\n\u003c/PRED\u003e","video":"8070367290198109019.mp4"}
+{"uid":"18194418420565001044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put orange in the big white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e","video":"9709345066766490883.mp4"}
+{"uid":"8668725927596086795","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":"15521198699982449147.mp4"}
+{"uid":"7505207036414648132","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"8269087328465059001.mp4"}
+{"uid":"17571628304328795393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the oven door to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11387634613272030718.mp4"}
+{"uid":"15457470445559227257","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8907467751652772362.mp4"}
+{"uid":"10986617168578138219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5424791384189095756.mp4"}
+{"uid":"13808113822924511799","text":"\u003ctask:success:discrete:True\u003e\nput chocolate in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e","video":"17536516959873684650.mp4"}
+{"uid":"3839433267638447449","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- open the drawer 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e","video":"15539273582866346312.mp4"}
+{"uid":"14790725796408644901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1785254289057860310.mp4"}
+{"uid":"4449953123568365615","text":"\u003ctask:success:discrete:True\u003e\ndrop milano dark chocolate into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl 12- drop milano dark chocolate into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl 12- drop milano dark chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10199666341891445750.mp4"}
+{"uid":"15515332601240016359","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"497368865877296481.mp4"}
+{"uid":"9070450254665276706","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"2850231566771284902.mp4"}
+{"uid":"3670361196358726235","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14305087899701459224.mp4"}
+{"uid":"14403256470503749620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the bottom white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10597827467892612179.mp4"}
+{"uid":"16346774303694177691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9757786278767805104.mp4"}
+{"uid":"4017810193316262518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glasses on the left stack in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"161903590620349774.mp4"}
+{"uid":"5354305516868470488","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the snack bar in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5528043574783037102.mp4"}
+{"uid":"9162633366258204028","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- unstack the bowls 3- open the drawer 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e","video":"15248315312207388169.mp4"}
+{"uid":"2716055856359489235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11895373511880141954.mp4"}
+{"uid":"13587494437981988238","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the rxbar chocolate into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the rxbar chocolate into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5946216483783314245.mp4"}
+{"uid":"10979147101249009288","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the bowl 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1991115333106614135.mp4"}
+{"uid":"16101641262645785402","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the snack bar in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the snack bar in the small bowl 2- put chocolate in the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the snack bar in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e","video":"13943915750857402627.mp4"}
+{"uid":"4542609144741512341","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":"2021322990546850827.mp4"}
+{"uid":"7130635757411420364","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: drop milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop milano dark chocolate into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop milano dark chocolate into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop milano dark chocolate into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop milano dark chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop milano dark chocolate into the bowl\n\u003c/PRED\u003e","video":"2496284083890913404.mp4"}
+{"uid":"14061132468862634150","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e","video":"16298523459918635538.mp4"}
+{"uid":"7868040384357255489","text":"\u003ctask:success:discrete:True\u003e\nput the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e","video":"12414937448477465711.mp4"}
+{"uid":"356253717855662844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the chocolates in the candy tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14896751188667996159.mp4"}
+{"uid":"8737573006181649036","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":"9519420286641419973.mp4"}
+{"uid":"10958616389101533118","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"4883043653403644924.mp4"}
+{"uid":"16043486902026752240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9057131356573494635.mp4"}
+{"uid":"1120390978334121829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed 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":"9096053366442412503.mp4"}
+{"uid":"2532097780165652810","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":"6316137624988651614.mp4"}
+{"uid":"15787648109572638964","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput chocolate in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14170655535933244406.mp4"}
+{"uid":"14829167621867973908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9747792049814273394.mp4"}
+{"uid":"13518541007035050085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the glass stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18119040934059175840.mp4"}
+{"uid":"3305975904792114810","text":"\u003ctask:success:discrete:True\u003e\nput orange in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e","video":"4251922252090867636.mp4"}
+{"uid":"13743022574586167417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky note 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":"4970762698994001344.mp4"}
+{"uid":"10237412643258247207","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":"6082088293250878476.mp4"}
+{"uid":"7488964349994532409","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":"10555477618201418093.mp4"}
+{"uid":"10733656094550833369","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"15841705266163697575.mp4"}
+{"uid":"13078931144799280071","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput chocolate in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put chocolate in the white bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e","video":"7300405690001179032.mp4"}
+{"uid":"1194292894134491940","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the snack bar in the small bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the snack bar in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the snack bar in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the snack bar in the small bowl\n\u003c/PRED\u003e","video":"1157809730428172048.mp4"}
+{"uid":"16110940753484012013","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e","video":"2791297036823800289.mp4"}
+{"uid":"14856044841717104389","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the big white bowl 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e","video":"4366243043418204215.mp4"}
+{"uid":"10072169389978524452","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowls 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowls Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"271121769390873348.mp4"}
+{"uid":"9496516555078948899","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the rxbar blueberry into the bowl 2- put chocolate in the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the rxbar blueberry 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:success:discrete:False\u003e\ndrop the rxbar blueberry 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":"17241788914427820264.mp4"}
+{"uid":"11469131213200450023","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowls 2- open the drawer 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e","video":"8787400714555261697.mp4"}
+{"uid":"10663560477646403459","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the big white bowl 2- put orange in the big white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e","video":"7023246973585601798.mp4"}
+{"uid":"12068370640958418231","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- open the drawer 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"17356068263273738483.mp4"}
+{"uid":"9631450544868806376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the top indoor plant to the left. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14985152848608781512.mp4"}
+{"uid":"6484492901189197165","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the biscuit packet in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the biscuit packet in the small bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the biscuit packet in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the biscuit packet in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the biscuit packet in the small bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the biscuit packet in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the biscuit packet in the small bowl\n\u003c/PRED\u003e","video":"10316819555144532678.mp4"}
+{"uid":"4868985697807819275","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"7300839757617064396.mp4"}
+{"uid":"10923961448508179776","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput chocolate in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put chocolate in the white bowl 2- put chocolate in the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e","video":"16765185484725155337.mp4"}
+{"uid":"12114377216308368431","text":"\u003ctask:success:discrete:True\u003e\ndrop the rxbar blueberry into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the rxbar blueberry into the bowl\n\u003c/PRED\u003e","video":"12098885036729233661.mp4"}
+{"uid":"1722696555138876111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the box right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16596908869033575759.mp4"}
+{"uid":"9201343050158717664","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl 12- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput chocolate in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl 12- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3392989889272733478.mp4"}
+{"uid":"15120821138317404783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13998134988318352905.mp4"}
+{"uid":"14184920460249412816","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"15219073736086136190.mp4"}
+{"uid":"2150899058859451542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7245381164244873864.mp4"}
+{"uid":"15816601020919151993","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":"13995328813984612310.mp4"}
+{"uid":"17247138794988862464","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the bowls 3- open the drawer 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e","video":"16431136101424578790.mp4"}
+{"uid":"13933072792885674231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"292662273619700919.mp4"}
+{"uid":"2847199011906795033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky notes in a 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":"18125779856532025878.mp4"}
+{"uid":"240155527415428607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on the existing cup stack in the spinning display Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17629129515795290177.mp4"}
+{"uid":"2135408943176058287","text":"\u003ctask:success:discrete:True\u003e\nput orange in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the big white bowl\n\u003c/PRED\u003e","video":"17267207943886928025.mp4"}
+{"uid":"12877703231805239064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in right side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10811653099867618349.mp4"}
+{"uid":"10666771782380264404","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put chocolate in the white bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chocolate in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl 9- put chocolate in the white bowl 10- put chocolate in the white bowl 11- put chocolate in the white bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e","video":"16104464738086948599.mp4"}
+{"uid":"11803780883742564165","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":"18162174138694404813.mp4"}
+{"uid":"5880610800829727087","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chocolate in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chocolate in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl 8- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put chocolate in the white bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- done\n\u003c/PRED\u003e","video":"10018599875506655848.mp4"}
+{"uid":"13166273843326885157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13117472498832100774.mp4"}
+{"uid":"12269337474855773373","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- put orange in the big white bowl 3- put orange in the big white bowl 4- put orange in the big white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"12893187376777675599.mp4"}
+{"uid":"10713162032977378961","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowls 2- unstack the bowls 3- open the drawer 4- put orange in the big white bowl 5- put orange in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e","video":"4723625577442935499.mp4"}
+{"uid":"10867430153797627630","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- put chocolate in the white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl 7- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"3967130796426553980.mp4"}
+{"uid":"15352631762464541041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17776122632837780370.mp4"}
+{"uid":"6941960386101711273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9336749936125970152.mp4"}
+{"uid":"15023508157824277872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14529372295347535064.mp4"}
+{"uid":"6750406698233059688","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- put orange in the big white bowl 3- put chocolate in the white bowl 4- put chocolate in the white bowl 5- put chocolate in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowls 3- unstack the bowls 4- open the drawer 5- put orange in the big white bowl 6- put orange in the big white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"5632564744672890265.mp4"}
+{"uid":"1005371518787163103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15963268078299399869.mp4"}
+{"uid":"8310206949412887670","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back Q: immediate next step? \u003cPRED\u003eA: move close to the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the trolley 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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: move close to the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the trolley 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: move close to the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the trolley stand 2- Clean the black table with wet wipe 3- Clean the corners of the black table 4- move towards the bin 5- drop the wipe in the bin\n\u003c/PRED\u003e","video":"432384911908807510.mp4"}
+{"uid":"10437630518410616041","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":"9778139141287734289.mp4"}
+{"uid":"15293461599916547256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the silver roll into the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10295803100247758115.mp4"}
+{"uid":"8519934447278456434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2618775074696442901.mp4"}
+{"uid":"4642636232926878237","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the trolley stand 2- Clean the black table with wet wipe 3- Clean the corners of the black table 4- move towards the bin 5- drop the wipe in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the trolley 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: move towards the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: move towards the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the trolley 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":"16246472621809163586.mp4"}
+{"uid":"12195501457440912279","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":"4136440488127060255.mp4"}
+{"uid":"17654543541151075952","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table Q: immediate next step? \u003cPRED\u003eA: Push the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Push the black table 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Push the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7950675015778081704.mp4"}
+{"uid":"11334395901534365767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4106821329244399236.mp4"}
+{"uid":"11104091365186995356","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4387143439127055919.mp4"}
+{"uid":"8663550499610758844","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a wet wipe from the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a wet wipe from the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a wet wipe from the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: pick a wet wipe from the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a wet wipe from the yellow packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a wet wipe from the yellow packet 2- Move close to the black table 3- Clean the black table with wet wipe 4- Clean the corners of the black table 5- move towards the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a wet wipe from the yellow packet\n\u003c/PRED\u003e","video":"17357240107858387616.mp4"}
+{"uid":"14186178354176068086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11463243617574266105.mp4"}
+{"uid":"16884476792370215647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13595943154292118174.mp4"}
+{"uid":"2407929889509681091","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the trolley 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":"18222132644859001135.mp4"}
+{"uid":"2739969007085658288","text":"\u003ctask:success:discrete:False\u003e\nClean the corners of the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Clean the corners of the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the corners of the black table 2- move towards the bin 3- drop the wipe in the bin 4- Slightly move back 5- Move towards the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Clean the corners of the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table Q: immediate next step? \u003cPRED\u003eA: Clean the corners of the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the corners of the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the corners of the black table\n\u003c/PRED\u003e","video":"13539875316934825173.mp4"}
+{"uid":"11320251283930439264","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the black 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":"7657168263048043802.mp4"}
+{"uid":"3009397541340816083","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the black table with wet wipe 2- move towards the bin 3- drop the wipe in the bin 4- Slightly move back 5- Move towards the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the black table with wet wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table Q: immediate next step? \u003cPRED\u003eA: clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the black table with wet wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12437424603974281410.mp4"}
+{"uid":"12357231182999485811","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- grab the trolley stand 2- grab the trolley stand 3- push the trolley stand forward 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the trolley 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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back Q: immediate next step? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the trolley 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":"948861535841551967.mp4"}
+{"uid":"18229378777137828516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17419272579289568758.mp4"}
+{"uid":"2816140420829722442","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back Q: immediate next step? \u003cPRED\u003eA: Clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the black table with wet wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the black table with wet wipe 2- move towards the bin 3- drop the wipe in the bin 4- Slightly move back 5- Move towards the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClean the black table with wet wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the black table with wet wipe\n\u003c/PRED\u003e","video":"7338562454023381151.mp4"}
+{"uid":"2340432930661294746","text":"\u003ctask:success:discrete:True\u003e\ngrab the trolley 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: grab the trolley stand\n\u003c/PRED\u003e","video":"8188849166256643912.mp4"}
+{"uid":"9876388842361636805","text":"\u003ctask:success:discrete:True\u003e\nclean the black table with wet wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the black table with wet wipe\n\u003c/PRED\u003e","video":"3771934147075954678.mp4"}
+{"uid":"6899594752857848405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6023534325448240352.mp4"}
+{"uid":"4984324477434146663","text":"\u003ctask:success:discrete:True\u003e\nthrow the wet wipe in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the wet wipe in the bin\n\u003c/PRED\u003e","video":"4168511263062682103.mp4"}
+{"uid":"11827984782495216224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a 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":"15902748350837168809.mp4"}
+{"uid":"8560747275525564694","text":"\u003ctask:success:discrete:True\u003e\nPush the black 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 black table\n\u003c/PRED\u003e","video":"13042053322488734351.mp4"}
+{"uid":"748927695401123963","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the wipe in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the wipe in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the wipe in the bin 2- Slightly move back 3- Move towards the black table 4- Grab the black table 5- grab the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin Q: immediate next step? \u003cPRED\u003eA: drop the wipe in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: drop the wipe in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the wipe in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the wipe in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9630850410215213865.mp4"}
+{"uid":"2246479979549460260","text":"\u003ctask:success:discrete:True\u003e\nmove towards the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e","video":"2667897712476505720.mp4"}
+{"uid":"5449252751557460192","text":"\u003ctask:success:discrete:False\u003e\npush the black table 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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: push the black table forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- push the black table forward 2- grab the trolley stand 3- push the trolley stand forward 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the black table 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: push the black table forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the black table forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back Q: immediate next step? \u003cPRED\u003eA: push the black table forward\n\u003c/PRED\u003e","video":"421847757452855936.mp4"}
+{"uid":"17307270364859207508","text":"\u003ctask:success:discrete:True\u003e\nclean the trolley stand with wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the trolley stand with wipe\n\u003c/PRED\u003e","video":"4103044457414009120.mp4"}
+{"uid":"9495968469269813271","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move back 2- Clean the black table with wet wipe 3- Clean the corners of the black table 4- move towards the bin 5- drop the wipe in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3989211867997099793.mp4"}
+{"uid":"17012909303768074520","text":"\u003ctask:success:discrete:False\u003e\nMove towards the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the black table 2- grab the trolley stand 3- push the trolley stand forward 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: immediate next step? \u003cPRED\u003eA: Move towards the black table\n\u003c/PRED\u003e","video":"17455338451877724320.mp4"}
+{"uid":"447793661728513715","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the wet wipe in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: throw the wet wipe in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the wet wipe in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the wet wipe in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: next 5 steps? \u003cPRED\u003eA: 1- throw the wet wipe in the bin 2- Slightly move back 3- Move towards the black table 4- Grab the black table 5- grab the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: immediate next step? \u003cPRED\u003eA: throw the wet wipe in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the wet wipe in the bin\n\u003c/PRED\u003e","video":"16922546521446916315.mp4"}
+{"uid":"12353772389835063872","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the trolley 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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: immediate next step? \u003cPRED\u003eA: move towards the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the trolley stand 2- Grab the black table 3- grab the trolley stand 4- push the trolley stand forward 5- move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the trolley 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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: move towards the trolley stand\n\u003c/PRED\u003e","video":"10463887838235347495.mp4"}
+{"uid":"2161943576949749733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"11401996200322107581.mp4"}
+{"uid":"11856445266974925304","text":"\u003ctask:success:discrete:True\u003e\npick a wet wipe from the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a wet wipe from the yellow packet\n\u003c/PRED\u003e","video":"6094962660272111772.mp4"}
+{"uid":"3668183312354571258","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the wet wipe in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the wet wipe in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18262559035260356925.mp4"}
+{"uid":"16685609878428780651","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the trolley stand forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the trolley stand 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand Q: immediate next step? \u003cPRED\u003eA: push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- push the trolley stand forward 2- done\n\u003c/PRED\u003e","video":"5776447174392048538.mp4"}
+{"uid":"9739117745098329102","text":"\u003ctask:success:discrete:True\u003e\nPull out a wet wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pull out a wet wipe\n\u003c/PRED\u003e","video":"6051057894964620238.mp4"}
+{"uid":"8982477215329043853","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table Q: immediate next step? \u003cPRED\u003eA: clean the trolley stand with wipe\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the trolley stand with wipe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the trolley stand with wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the trolley stand with wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the trolley stand with wipe 2- move towards the bin 3- drop the wipe in the bin 4- Slightly move back 5- Move towards the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: clean the trolley stand with wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the trolley stand with wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"729527353969951807.mp4"}
+{"uid":"7315138862480756494","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table Q: next 5 steps? \u003cPRED\u003eA: 1- grab the trolley stand 2- push the trolley stand forward 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the trolley 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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the trolley 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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table Q: immediate next step? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the trolley stand\n\u003c/PRED\u003e","video":"2567220851833222720.mp4"}
+{"uid":"10717675415259189759","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back Q: immediate next step? \u003cPRED\u003eA: Grab the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Grab the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the black table 2- grab the trolley stand 3- push the trolley stand forward 4- move back 5- done\n\u003c/PRED\u003e","video":"15408883869120761617.mp4"}
+{"uid":"13670068735348671507","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm left 2- move towards the bin 3- drop the wipe in the bin 4- Slightly move back 5- Move towards the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: move your arm left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the small cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe Q: immediate next step? \u003cPRED\u003eA: move your arm left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm left\n\u003c/PRED\u003e","video":"5504954146851300377.mp4"}
+{"uid":"16387956600818409896","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":"9244170985968001332.mp4"}
+{"uid":"3375919941125129638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9512872253503295297.mp4"}
+{"uid":"1266413034231013769","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":"1142231755865580677.mp4"}
+{"uid":"12654756107130978676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"2750252212358907703.mp4"}
+{"uid":"13692645161280590131","text":"\u003ctask:success:discrete:True\u003e\npick a wipe from the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a wipe from the wet wipes packet\n\u003c/PRED\u003e","video":"16601102967475156204.mp4"}
+{"uid":"7405245737056884776","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":"6769975716577592650.mp4"}
+{"uid":"15713498759669297979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the bottom left white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10524939216322620812.mp4"}
+{"uid":"4321744455654092041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clean the corners of the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClean the corners of the black 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":"15406167422254976740.mp4"}
+{"uid":"15920860775016569776","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":"12362220415981416046.mp4"}
+{"uid":"290671014494429282","text":"\u003ctask:success:discrete:True\u003e\npush the trolley stand forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand 12- push the trolley stand forward Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand 12- push the trolley stand forward Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17832136826492380799.mp4"}
+{"uid":"490503996817545479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"562617566708812280.mp4"}
+{"uid":"17825186856608291032","text":"\u003ctask:success:discrete:True\u003e\nmove towards the trolley 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: move towards the trolley stand\n\u003c/PRED\u003e","video":"16867659940663100810.mp4"}
+{"uid":"15684599427230780584","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the wet wipe in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the wet wipe in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the wet wipe in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the wet wipe in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the wet wipe in the bin 2- Slightly move back 3- Move towards the black table 4- Grab the black table 5- grab the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Drop the wet wipe in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: immediate next step? \u003cPRED\u003eA: Drop the wet wipe in the bin\n\u003c/PRED\u003e","video":"3845314080547937834.mp4"}
+{"uid":"12764063545068975530","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":"11796460922072343913.mp4"}
+{"uid":"3377267587389502996","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand Q: immediate next step? \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","video":"15131962381668901613.mp4"}
+{"uid":"10366813115533591684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15341959228244398096.mp4"}
+{"uid":"8459661747727245232","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand 12- move back Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table 10- Grab the black table 11- grab the trolley stand 12- move back Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17747973697478002548.mp4"}
+{"uid":"7071878198435678384","text":"\u003ctask:success:discrete:True\u003e\nMove towards the black 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 black table\n\u003c/PRED\u003e","video":"5501029743234096067.mp4"}
+{"uid":"2929852434257718988","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clean the black table with wet wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClean the black table with wet wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7732617280775062767.mp4"}
+{"uid":"4541636304980110188","text":"\u003ctask:success:discrete:False\u003e\nmove close to the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: move close to the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: immediate next step? \u003cPRED\u003eA: move close to the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the black table 2- Grab the black table 3- grab the trolley stand 4- push the trolley stand forward 5- move back\n\u003c/PRED\u003e","video":"3926359195500259753.mp4"}
+{"uid":"16724123213663684637","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the black table forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the black table 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":"13834786237576174429.mp4"}
+{"uid":"17543029312529466414","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the bin 2- drop the wipe in the bin 3- Slightly move back 4- Move towards the black table 5- Grab the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e","video":"9613775010586094394.mp4"}
+{"uid":"8728626868847050287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16571137967827778777.mp4"}
+{"uid":"11098525057684702143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"5313484829223835852.mp4"}
+{"uid":"5878502159890505688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee cup lid 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":"12336107857226146734.mp4"}
+{"uid":"4013602807523644859","text":"\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:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move your arm back 2- drop the wipe in the bin 3- Slightly move back 4- Move towards the black table 5- Grab the black table\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: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: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","video":"12050336493122179788.mp4"}
+{"uid":"5004223014327843150","text":"\u003ctask:success:discrete:False\u003e\nPull out a wet wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a wipe from the wet wipes packet 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a wipe from the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a wipe from the wet wipes packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull out a wet wipe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pull out a wet wipe 2- Move close to the black table 3- Clean the black table with wet wipe 4- Clean the corners of the black table 5- move towards the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a wipe from the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull out a wet wipe\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a wipe from the wet wipes packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: pick a wipe from the wet wipes packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Pull out a wet wipe\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pull out a wet wipe\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a wipe from the wet wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull out a wet wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9749233866284271438.mp4"}
+{"uid":"13608232960196224013","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table Q: immediate next step? \u003cPRED\u003eA: slightly push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin 8- Slightly move back 9- Move towards the black table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the trolley stand forward 2- grab the trolley stand 3- push the trolley stand forward 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: slightly push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the trolley stand forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly push the trolley stand forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly push the trolley stand 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","video":"3439109456227975485.mp4"}
+{"uid":"10753657871536064031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7334793755795110389.mp4"}
+{"uid":"5987465426933515479","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Move close to the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe Q: immediate next step? \u003cPRED\u003eA: Move close to the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the black table 2- Clean the corners of the black table 3- move towards the bin 4- drop the wipe in the bin 5- Slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4645226068060561238.mp4"}
+{"uid":"9966277207546417551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the right 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":"9939527585903532588.mp4"}
+{"uid":"18282971495144106029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the wrapper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10989795868427242217.mp4"}
+{"uid":"817343452310422084","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away Q: immediate next step? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move back 2- Grab the black table 3- grab the trolley stand 4- push the trolley stand forward 5- move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the meeting is over, can you whipe down the rollaway table with a disinfecting wipe and put the table away. last 20 steps: 1- Pull out a wet wipe 2- Slightly move back 3- Move close to the black table 4- Clean the black table with wet wipe 5- Clean the corners of the black table 6- move towards the bin 7- drop the wipe in the bin Q: immediate next step? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move 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","video":"5093987521842268112.mp4"}
+{"uid":"8725144962773386859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the top houseplant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7679390060413797016.mp4"}
+{"uid":"6570122919259951436","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput green packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- put green packet in stand 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green packet in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15522233183914953574.mp4"}
+{"uid":"15807333090289885689","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the bowl 2- place green packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8506974349827388597.mp4"}
+{"uid":"3910724290161978419","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the bowl 2- put candy in the bowl 3- place blue packet in the basket 4- place blue packet in the basket 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e","video":"12519929283051653489.mp4"}
+{"uid":"15745898002696339316","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":"13763090943686051582.mp4"}
+{"uid":"14496640660019733190","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":"14406152507548872392.mp4"}
+{"uid":"10298465555384239517","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":"14318624537244944423.mp4"}
+{"uid":"80249668662099647","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the bowl 2- place blue packet in the basket 3- place blue packet in the basket 4- put candy in the bowl 5- place green packet in the basket\n\u003c/PRED\u003e","video":"14782155327709348529.mp4"}
+{"uid":"10348291530069395103","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8576239206447338755.mp4"}
+{"uid":"17351003704628589570","text":"\u003ctask:success:discrete:False\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the holder upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the holder upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the holder upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder upright on the table\n\u003c/PRED\u003e","video":"10004848611323583944.mp4"}
+{"uid":"8128565678238713713","text":"\u003ctask:success:discrete:True\u003e\nput the bigger 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 bigger packet in the cart\n\u003c/PRED\u003e","video":"15395682968522135324.mp4"}
+{"uid":"941711387843934463","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the bowl 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1569809910383957879.mp4"}
+{"uid":"481765087477625690","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bigger 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:success:discrete:False\u003e\nput the bigger 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the bigger packet in the cart 2- put candy in the bowl 3- place green packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e","video":"14474525069891536685.mp4"}
+{"uid":"4754350257124594798","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in bowl 2- place blue packet in the basket 3- place blue packet in the basket 4- put candy in the bowl 5- place green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e","video":"11175974619403822267.mp4"}
+{"uid":"12725353893355269819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1078800288219422309.mp4"}
+{"uid":"7833393304053086376","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":"4791366453400777763.mp4"}
+{"uid":"7567055363418797775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange cable into 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":"15267501232811729604.mp4"}
+{"uid":"1800958019162235494","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e","video":"4210820060481671233.mp4"}
+{"uid":"467398914374982231","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the basket 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2003297779857383378.mp4"}
+{"uid":"10387507082095866225","text":"\u003ctask:success:discrete:True\u003e\nplace green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e","video":"3592388126419306745.mp4"}
+{"uid":"10283219181326000715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the paper cup 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":"4953221579527327641.mp4"}
+{"uid":"17519783179876387061","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14762814355588672310.mp4"}
+{"uid":"4908707619653806103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12855050069094779846.mp4"}
+{"uid":"8002585970512820238","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the bowl 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e","video":"4742257895939803716.mp4"}
+{"uid":"8447773890980758534","text":"\u003ctask:success:discrete:True\u003e\nplace green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl 11- place green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl 11- place green packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6581518700068753074.mp4"}
+{"uid":"1344789966277527998","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bigger 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- put the bigger packet in the cart 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e","video":"4788290980016858416.mp4"}
+{"uid":"1507307988058159076","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":"4484241804191718829.mp4"}
+{"uid":"16291878902146527151","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on the left side of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"366251469727236850.mp4"}
+{"uid":"208951603020937330","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":"4711348827124337595.mp4"}
+{"uid":"15978134293997737706","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl 11- put the bigger packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bigger 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl 11- put the bigger packet in the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5389978895675471199.mp4"}
+{"uid":"13098560439393805319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place blue packet in the basket 2- put candy in the bowl 3- place green packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11685127628569465496.mp4"}
+{"uid":"1194350447576206300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17075497450640531156.mp4"}
+{"uid":"13573481141457902706","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the bowl 2- put candy in the bowl 3- place blue packet in the basket 4- place blue packet in the basket 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e","video":"5129428614691539938.mp4"}
+{"uid":"3103629235856636404","text":"\u003ctask:success:discrete:False\u003e\nplace blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place blue packet in the basket 2- place blue packet in the basket 3- put candy in the bowl 4- place green packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11726291916529044250.mp4"}
+{"uid":"15526988945647014368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the left yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1405985849155430422.mp4"}
+{"uid":"4687251703473308661","text":"\u003ctask:success:discrete:False\u003e\nput the bigger 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bigger 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the bigger packet in the cart 2- done\n\u003c/PRED\u003e","video":"3033224863671653639.mp4"}
+{"uid":"9383410548164415623","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green packet in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put green packet in stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e","video":"15673115206557341685.mp4"}
+{"uid":"1218870132561070570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3570430088525653222.mp4"}
+{"uid":"15606343449052058465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on 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":"10511380466913364243.mp4"}
+{"uid":"9587247555826155088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12337609288870027209.mp4"}
+{"uid":"17626376378428691548","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the bowl 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e","video":"13652482890541920539.mp4"}
+{"uid":"1528436256298582464","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in stand 2- put candy in the bowl 3- place green packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e","video":"2816844842334004462.mp4"}
+{"uid":"9563547305194398611","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bigger 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the bigger packet in the cart 2- put candy in the bowl 3- place green packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the bigger 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 bigger packet in the cart\n\u003c/PRED\u003e","video":"6803881059842727312.mp4"}
+{"uid":"12517546520330571468","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue packet in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14416430258394390087.mp4"}
+{"uid":"11366640038622437164","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":"18361625829311325942.mp4"}
+{"uid":"3907259215811811296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the measurement tape 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":"11607822691220344039.mp4"}
+{"uid":"16010004570130988507","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":"16241460377051409036.mp4"}
+{"uid":"7602131122081391543","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":"8702939028507301286.mp4"}
+{"uid":"6938957863410941591","text":"\u003ctask:success:discrete:False\u003e\nput packet in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15253012662878391178.mp4"}
+{"uid":"10171416226033033523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistas in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1851089306977159037.mp4"}
+{"uid":"13665744969015386658","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- place green packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"2970544021538187860.mp4"}
+{"uid":"4452515582002944466","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13853724093158331508.mp4"}
+{"uid":"12227110479302870164","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e","video":"3694097812547662979.mp4"}
+{"uid":"13397983311125619751","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bigger 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","video":"9018014128697937250.mp4"}
+{"uid":"12760613205721294583","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder 6- place the marker in the holder 7- place the marker in the holder 8- place the marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder 6- place the marker in the holder 7- place the marker in the holder 8- place the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e","video":"2470853279257781932.mp4"}
+{"uid":"9217342593527594328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on the existing cup stack in the spinning display Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"100164384611672529.mp4"}
+{"uid":"17011416545517056784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep knife in middle glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18430756001491912839.mp4"}
+{"uid":"11137005067686731034","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder 6- place the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- place the marker in the holder 3- place the marker in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder 6- place the marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e","video":"3161364094606692860.mp4"}
+{"uid":"4839381486809705799","text":"\u003ctask:success:discrete:True\u003e\nput the bigger 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 bigger packet in the cart\n\u003c/PRED\u003e","video":"17554459194836353426.mp4"}
+{"uid":"3545369441842969111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"4270631185103544576.mp4"}
+{"uid":"2235984766341544935","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"8344169741208381424.mp4"}
+{"uid":"4210697017971801102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3308398896376724099.mp4"}
+{"uid":"9891466099445431160","text":"\u003ctask:success:discrete:True\u003e\nplace the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e","video":"12462239107150059475.mp4"}
+{"uid":"2838709727997520270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1345806892054348534.mp4"}
+{"uid":"9573462973958062759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow duck in the white 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":"9830291987613953436.mp4"}
+{"uid":"632049442871028501","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in bowl 2- put candy in the bowl 3- place blue packet in the basket 4- place blue packet in the basket 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put  packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put  packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in bowl\n\u003c/PRED\u003e","video":"14392672435150174078.mp4"}
+{"uid":"9249171465221309550","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the bowl 2- place blue packet in the basket 3- put candy in the bowl 4- place green packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5916021898266181806.mp4"}
+{"uid":"15728556579118860704","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket 10- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e","video":"17339180785439167065.mp4"}
+{"uid":"7016155475462282772","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":"7444399511248613412.mp4"}
+{"uid":"3641975746250560466","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in packet 2- place blue packet in the basket 3- put candy in the bowl 4- place green packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in packet\n\u003c/PRED\u003e","video":"14077950944700091463.mp4"}
+{"uid":"14080708046347898253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7998713042691878597.mp4"}
+{"uid":"1282278910782992873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7396473735410995041.mp4"}
+{"uid":"1288353389530188177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15159869112223167038.mp4"}
+{"uid":"1248162516400436171","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder 6- place the marker in the holder 7- place the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- place the marker in the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder 6- place the marker in the holder 7- place the marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17753343432860262928.mp4"}
+{"uid":"3382998443648928094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12437237684473761182.mp4"}
+{"uid":"15898503378556850361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13263523403789031587.mp4"}
+{"uid":"7025028193377660101","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":"2448750486786100844.mp4"}
+{"uid":"11981553619919969089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper clip in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18156308253055354903.mp4"}
+{"uid":"5073600503014166155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16900614154700722134.mp4"}
+{"uid":"13760480641789293712","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bigger 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bigger 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bigger packet in the cart\n\u003c/PRED\u003e","video":"11563309178010720871.mp4"}
+{"uid":"2999611613668583373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic forks 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":"875972671845698366.mp4"}
+{"uid":"8020516096338086309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11676421525824855965.mp4"}
+{"uid":"15824740510681064355","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the bowl 2- put candy in the bowl 3- put candy in the bowl 4- place blue packet in the basket 5- place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e","video":"15384021111218949062.mp4"}
+{"uid":"16226739331059804268","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e","video":"16539567592216007406.mp4"}
+{"uid":"8685343307837208070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9902611593983730536.mp4"}
+{"uid":"9849985729700486053","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar candy in the bowl 2- put candy in the bowl 3- place blue packet in the basket 4- place blue packet in the basket 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar candy in the bowl\n\u003c/PRED\u003e","video":"6265761451449632042.mp4"}
+{"uid":"8241413983221754121","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the bowl 2- place green packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl 6- put candy in the bowl 7- put candy in the bowl 8- place blue packet in the basket 9- place blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e","video":"4168667692730250275.mp4"}
+{"uid":"3156726474673944135","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in the basket 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart Q: immediate next step? \u003cPRED\u003eA: place green packet in the basket\n\u003c/PRED\u003e","video":"7703457516343684292.mp4"}
+{"uid":"15987968169936278022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the chocolate put it in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3146412297848787435.mp4"}
+{"uid":"290661902397696238","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- place the holder upright on the table 2- place the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the holder 2- place the marker in the holder 3- place the marker in the holder 4- place the marker in the holder 5- place the marker in the holder\n\u003c/PRED\u003e","video":"3200349633363812292.mp4"}
+{"uid":"6903557861616374747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the nut into  the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16819741413585720302.mp4"}
+{"uid":"11874675649738097572","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl 4- put candy in the bowl 5- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in bowl 2- put candy in the bowl 3- place blue packet in the basket 4- place blue packet in the basket 5- put candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6848474052139163873.mp4"}
+{"uid":"5178184523971257522","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the bowl 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the bowl\n\u003c/PRED\u003e","video":"5892035072011550360.mp4"}
+{"uid":"14628898226547393416","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the bigger packet in the cart 2- place green packet in the basket 3- put candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put candy in the bowl 3- put candy in the bowl 4- put candy in the bowl 5- place blue packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"3604466798322968301.mp4"}
+{"uid":"1701684483098131048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13774225283747863488.mp4"}
+{"uid":"8388594291390991437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in right side 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":"5344868038014165025.mp4"}
+{"uid":"14064604383286113084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a 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":"3215429826478700521.mp4"}
+{"uid":"2135146027551819595","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":"6833470792992442932.mp4"}
+{"uid":"13836668644925641799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chew toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1192820047260351246.mp4"}
+{"uid":"1055291738201453851","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can Q: immediate next step? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the can 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6767246480207658171.mp4"}
+{"uid":"4501462046683525000","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can 2- exit the room with the can 3- throw the can in the trash bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e","video":"4661792800449467966.mp4"}
+{"uid":"5800390108964031806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1404047226799950281.mp4"}
+{"uid":"17046828726618809033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white 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":"14233256053552407486.mp4"}
+{"uid":"14413663131809643690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13458719649816548463.mp4"}
+{"uid":"11976040624844213746","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet Q: next 5 steps? \u003cPRED\u003eA: 1- throw white packet in the trash bin 2- pick up the can 3- exit the room with the can 4- throw the can in the trash bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow white packet in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet Q: immediate next step? \u003cPRED\u003eA: throw white packet in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow white packet in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12596583033233169128.mp4"}
+{"uid":"10549831457045590666","text":"\u003ctask:success:discrete:True\u003e\nPlace tissues 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:planning:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: 1- Place tissues on a table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: 1- Place tissues on a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place tissues on a table\n\u003c/PRED\u003e","video":"12201930559156256486.mp4"}
+{"uid":"2220845393071726535","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- throw the can in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- throw the can in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the can in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2059743460793336961.mp4"}
+{"uid":"11449905093585947100","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1297759154236915050.mp4"}
+{"uid":"8332252287832877918","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- put the packet in the bin 3- pick up the can 4- exit the room with the can 5- throw the can in the trash bin\n\u003c/PRED\u003e","video":"8522172049564006661.mp4"}
+{"uid":"9881536400706248811","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":"13177337085473488949.mp4"}
+{"uid":"2840353897237151908","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the can in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the can in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can Q: immediate next step? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- throw the can in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e","video":"1715014738230380437.mp4"}
+{"uid":"11480769096886538955","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":"12999974632209606404.mp4"}
+{"uid":"7267266662993954418","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17918843781050804085.mp4"}
+{"uid":"14346441647399662258","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the tissues\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues Q: immediate next step? \u003cPRED\u003eA: exit the room with the tissues\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the tissues Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the tissues\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: exit the room with the tissues\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with the tissues Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the tissues 2- put the tissue paper in the bin 3- pick up the white packet 4- exit the room with the packet 5- put the packet in the bin\n\u003c/PRED\u003e","video":"491845879167363063.mp4"}
+{"uid":"6002972320347537375","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues Q: next 5 steps? \u003cPRED\u003eA: 1- throw the napkin in the trash bin 2- pick up the white packet 3- exit the room with the packet 4- put the packet in the bin 5- pick up the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues Q: immediate next step? \u003cPRED\u003eA: throw the napkin in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: throw the napkin in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the napkin in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the napkin in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the napkin in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the napkin in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13265662317673816257.mp4"}
+{"uid":"16484722436347355695","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bin 2- pick up the can 3- exit the room with the can 4- throw the can in the trash bin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet Q: immediate next step? \u003cPRED\u003eA: put the packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16168190606841285542.mp4"}
+{"uid":"512040265487207574","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":"13824886358598055585.mp4"}
+{"uid":"14160163980405165291","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- put the can into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- put the can into 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 can into the basket\n\u003c/PRED\u003e","video":"11036353569554952473.mp4"}
+{"uid":"7900646303153923159","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17039620145075814096.mp4"}
+{"uid":"15187179319870079350","text":"\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"512589166933675058.mp4"}
+{"uid":"16455348503122352219","text":"\u003ctask:success:discrete:True\u003e\nexit the room with the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- exit the room with the can Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- exit the room with the can Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8203780254146512951.mp4"}
+{"uid":"4080177776414864369","text":"\u003ctask:success:discrete:True\u003e\nput the tissue paper in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue paper in the bin\n\u003c/PRED\u003e","video":"5615118832923914549.mp4"}
+{"uid":"13733010931042763214","text":"\u003ctask:success:discrete:True\u003e\npick up the brown tissues Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brown tissues\n\u003c/PRED\u003e","video":"10584433173475640608.mp4"}
+{"uid":"17239730528878911993","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. Q: immediate next step? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e","video":"8397487898709728985.mp4"}
+{"uid":"9036316941331209208","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white packet 2- exit the room with the packet 3- put the packet in the bin 4- pick up the can 5- exit the room with the can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2135851159744093218.mp4"}
+{"uid":"13380121453897827246","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the napkin in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the napkin in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1639768709331905412.mp4"}
+{"uid":"9989896268921807171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on 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":"1407554400419648975.mp4"}
+{"uid":"11570524824925670605","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: 1- Clean the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: 1- Clean 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: Clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15641949505082500327.mp4"}
+{"uid":"8538146595419108422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12824782011146287202.mp4"}
+{"uid":"2811191478758807899","text":"\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"1022555491865528975.mp4"}
+{"uid":"10856441363381097865","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- throw the can in the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"167768632378619527.mp4"}
+{"uid":"6934186883016575628","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the packet 2- put the packet in the bin 3- pick up the can 4- exit the room with the can 5- throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet Q: immediate next step? \u003cPRED\u003eA: exit the room with the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with 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:affordance:discriminative:discrete:True\u003e\nexit the room with the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: exit the room with the packet\n\u003c/PRED\u003e","video":"16973678699019343311.mp4"}
+{"uid":"9659908315782018784","text":"\u003ctask:success:discrete:True\u003e\npick up the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e","video":"4041250323394360450.mp4"}
+{"uid":"5749502978025154784","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the can into the basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: put the can into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin Q: immediate next step? \u003cPRED\u003eA: put the can into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can 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":"6059873351404511925.mp4"}
+{"uid":"18114213468310145337","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper in the bin 2- pick up the white packet 3- exit the room with the packet 4- put the packet in the bin 5- pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: put the tissue paper in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues Q: immediate next step? \u003cPRED\u003eA: put the tissue paper in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper in the bin\n\u003c/PRED\u003e","video":"14941460432974335208.mp4"}
+{"uid":"1237465563011490101","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room with the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- exit the room with the can Q: immediate next step? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- exit the room with the can Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room with the can 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room with the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: enter the room with the can\n\u003c/PRED\u003e","video":"9557479609130372045.mp4"}
+{"uid":"17611294307624041902","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: put the can in the blue bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- exit the room with the can Q: immediate next step? \u003cPRED\u003eA: put the can in the blue bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the blue bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the blue bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the blue bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can in the blue bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet 6- put the packet in the bin 7- pick up the can 8- exit the room with the can Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the blue bin 2- done\n\u003c/PRED\u003e","video":"15372371589609693672.mp4"}
+{"uid":"14127514581344171381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14989808261323710303.mp4"}
+{"uid":"12013071332554180412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3197378801894919141.mp4"}
+{"uid":"2243807126212951838","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":"13267855978629244156.mp4"}
+{"uid":"18168150136617587344","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the brown tissues\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown tissues\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown tissues 2- exit the room with the tissues 3- put the tissue paper in the bin 4- pick up the white packet 5- exit the room with the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown tissues\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown tissues Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 brown tissues Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: pick up the brown tissues\n\u003c/PRED\u003e","video":"15495699092832543574.mp4"}
+{"uid":"10832924179829888551","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":"14818608500024431206.mp4"}
+{"uid":"13683873558814781541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tape from 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":"15799677180548861121.mp4"}
+{"uid":"9100170166734616964","text":"\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: vput the cookie wrapper in the trash, the can in the recycling, and the napkins in the compostables. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- put the tissue paper in the bin 3- pick up the white packet 4- exit the room with the packet 5- put the packet in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"3646009631519243717.mp4"}
+{"uid":"11964420641029099190","text":"\u003ctask:success:discrete:False\u003e\nPlace tissues 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place tissues on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place tissues on a table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. Q: immediate next step? \u003cPRED\u003eA: Place tissues on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace tissues 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place tissues on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled water on my desk can you bring some napkins from MK kitchen and clean the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place tissues on a table\n\u003c/PRED\u003e","video":"1379539660883114059.mp4"}
+{"uid":"841319666358093349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput oatmeal pack 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":"9641733032042296467.mp4"}
+{"uid":"2219122990188284352","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: move gripper towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move gripper towards the table 2- pick up the cup 3- enter into the dark room 4- drop the cup on a table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove gripper towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 gripper towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove gripper towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move gripper towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move gripper towards the table\n\u003c/PRED\u003e","video":"14131713006337324242.mp4"}
+{"uid":"5162128678527490260","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bowl 2- enter into the dark room 3- drop the cup on a table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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":"419148137940119020.mp4"}
+{"uid":"3421146690559935205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate crunch 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":"53247354381151098.mp4"}
+{"uid":"2793056112832351011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow pear into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6166284238916617159.mp4"}
+{"uid":"12038653629319537328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8827678023564812195.mp4"}
+{"uid":"11292794316223459745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the purple 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":"14700904807319212736.mp4"}
+{"uid":"13295144145706803075","text":"\u003ctask:success:discrete:False\u003e\nPickup the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door Q: immediate next step? \u003cPRED\u003eA: Pickup the notepad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the notepad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Pickup the notepad\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the notepad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the notepad 2- Exit the hall 3- Place the notepad on the table 4- Place the pen in the stand 5- Place the notepad in the stand\n\u003c/PRED\u003e","video":"8489700491261726924.mp4"}
+{"uid":"17560435027168799478","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the cafeteria\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the cafeteria Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18147133315724039225.mp4"}
+{"uid":"6575257798774365945","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stand 2- Place the notepad in the stand 3- Pickup the banana 4- Exit the cafeteria 5- Exit the hall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e","video":"10038543626397792234.mp4"}
+{"uid":"17597264508132641254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3484863833661748085.mp4"}
+{"uid":"4179232692609541517","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5473393770326564408.mp4"}
+{"uid":"14592646905775397156","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the cafeteria\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the cafeteria 2- Exit the hall 3- Open the door 4- Close the door 5- Place the banana near the laptop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Exit the cafeteria\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana Q: immediate next step? \u003cPRED\u003eA: Exit the cafeteria\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the cafeteria Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the cafeteria Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the cafeteria\n\u003c/PRED\u003e","video":"7850636424459276096.mp4"}
+{"uid":"7417929901572091322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12787303006209032253.mp4"}
+{"uid":"2845788642544351432","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12705794426747732798.mp4"}
+{"uid":"11353121950111519859","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- enter into the dark room 3- drop the cup on a table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e","video":"8367653613616305220.mp4"}
+{"uid":"6282243695832765681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet 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":"14990281330657210491.mp4"}
+{"uid":"3599011348465545240","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":"4401028351019016683.mp4"}
+{"uid":"640308473263236505","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the 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: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door Q: next 5 steps? \u003cPRED\u003eA: 1- Close the door 2- Pickup the notepad 3- Exit the hall 4- Place the notepad on the table 5- Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the 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: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e","video":"11644602271409336236.mp4"}
+{"uid":"17005337054271014853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the holder with plastic forks 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":"9074447306924719924.mp4"}
+{"uid":"751777380355534419","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the notepad in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16771090807783607226.mp4"}
+{"uid":"2008657327555698600","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":"2760751484783680471.mp4"}
+{"uid":"2590867279624128127","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter into the dark room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup Q: immediate next step? \u003cPRED\u003eA: enter into the dark room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter into the dark room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- enter into the dark room 2- drop the cup on a table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter into the dark 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 into the dark 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: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: enter into the dark room\n\u003c/PRED\u003e","video":"1659100252442435955.mp4"}
+{"uid":"15408709195580070699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue chip 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":"11436103274895678437.mp4"}
+{"uid":"1521622669003953841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 5 blue pens inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3876510051033277226.mp4"}
+{"uid":"7015456604372510072","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scoop into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9245203348135981761.mp4"}
+{"uid":"9135571043258452598","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall Q: next 5 steps? \u003cPRED\u003eA: 1- Open the door 2- Close the door 3- Place the banana near the laptop 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the 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: Open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the 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","video":"16333601202524646449.mp4"}
+{"uid":"1781794178788419612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move gripper towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove gripper towards 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":"9497717021236128103.mp4"}
+{"uid":"11847734212742261777","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8197071232611697981.mp4"}
+{"uid":"5720288016327330822","text":"\u003ctask:success:discrete:True\u003e\npick up 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: pick up the bowl\n\u003c/PRED\u003e","video":"11170914077758544599.mp4"}
+{"uid":"3387252739407239248","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the notepad on the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the notepad on 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: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad Q: immediate next step? \u003cPRED\u003eA: Place the notepad on the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the notepad on the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the notepad on 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:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Place the notepad on the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad on the rack 2- Open the door 3- Exit the door 4- Close the door 5- Pickup the notepad\n\u003c/PRED\u003e","video":"7780287102647447299.mp4"}
+{"uid":"11835120438677565512","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the notepad on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall Q: immediate next step? \u003cPRED\u003eA: Place the notepad on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad on the table 2- Place the pen in the stand 3- Place the notepad in the stand 4- Pickup the banana 5- Exit the cafeteria\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the notepad on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the notepad on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 notepad on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Place the notepad on the table\n\u003c/PRED\u003e","video":"15562058641650239104.mp4"}
+{"uid":"13815864062013060717","text":"\u003ctask:success:discrete:True\u003e\nPlace the notepad on 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the notepad on the rack\n\u003c/PRED\u003e","video":"13510563094804746953.mp4"}
+{"uid":"10855661361821361114","text":"\u003ctask:success:discrete:True\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup 3- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup 3- place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11590960294632643004.mp4"}
+{"uid":"17433753171097783305","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana near the laptop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Place the banana near the laptop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana near the laptop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall 14- Open the door 15- Close the door Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana near the laptop 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana near the laptop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana near the laptop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall 14- Open the door 15- Close the door Q: immediate next step? \u003cPRED\u003eA: Place the banana near the laptop\n\u003c/PRED\u003e","video":"15530669862488322509.mp4"}
+{"uid":"1170760780641845610","text":"\u003ctask:success:discrete:True\u003e\nPickup the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e","video":"16708127657644836354.mp4"}
+{"uid":"15308189147660573230","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall 14- Open the door Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the 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: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall 14- Open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Close the door 2- Place the banana near the laptop 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e","video":"1827331929433009997.mp4"}
+{"uid":"3532517553966645682","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":"17362733488177286759.mp4"}
+{"uid":"14403461294121471144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1377185991101402880.mp4"}
+{"uid":"17772856014381180721","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall 14- Open the door 15- Close the door 16- Place the banana near the laptop Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the banana near the laptop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the banana near the laptop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria 13- Exit the hall 14- Open the door 15- Close the door 16- Place the banana near the laptop Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8414965384126999329.mp4"}
+{"uid":"5284795573502277551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1153133399597463648.mp4"}
+{"uid":"3624350730012292497","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad Q: immediate next step? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the hall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the hall 2- Place the notepad on the table 3- Place the pen in the stand 4- Place the notepad in the stand 5- Pickup the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the hall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11402053030019981746.mp4"}
+{"uid":"3553947989003710594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the book in the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17332972676857051819.mp4"}
+{"uid":"11627142593011145416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the fruit 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":"2747345795395187245.mp4"}
+{"uid":"9794772781154574599","text":"\u003ctask:success:discrete:False\u003e\nExit the 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: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door Q: immediate next step? \u003cPRED\u003eA: Exit the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the 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: Exit the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Exit the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the door 2- Close the door 3- Pickup the notepad 4- Exit the hall 5- Place the notepad on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the door\n\u003c/PRED\u003e","video":"11517083330277788083.mp4"}
+{"uid":"5710936681008777107","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad in the stand 2- Pickup the banana 3- Exit the cafeteria 4- Exit the hall 5- Open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the notepad in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the notepad in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6862997442437372186.mp4"}
+{"uid":"1945336671226366716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11990404150723304591.mp4"}
+{"uid":"16100262142322714066","text":"\u003ctask:success:discrete:True\u003e\nExit the hall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e","video":"4761907438610864190.mp4"}
+{"uid":"8529544832233889395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17475456735520572469.mp4"}
+{"uid":"9691571682307278387","text":"\u003ctask:success:discrete:True\u003e\nExit the hall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e","video":"16898948218377385055.mp4"}
+{"uid":"17337844287841158046","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup 3- enter into the dark room 4- drop the cup on a table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cup 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup 3- enter into the dark room 4- drop the cup on a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18307808059915455641.mp4"}
+{"uid":"12732091912194695722","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11785064418497958165.mp4"}
+{"uid":"13420590745543306861","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup 3- enter into the dark room Q: immediate next step? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. last 20 steps: 1- move gripper towards the table 2- pick up the cup 3- enter into the dark room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup on a table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring bowl of grapes from mk to desk at wavelength 1a6. Q: immediate next step? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup 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:success:discrete:False\u003e\ndrop the cup 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e","video":"6529905231213896090.mp4"}
+{"uid":"3499133673369716175","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand Q: immediate next step? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the banana 2- Exit the cafeteria 3- Exit the hall 4- Open the door 5- Close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e","video":"9777093956735786718.mp4"}
+{"uid":"6113207611890240849","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter into the dark room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter into the dark room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13491165359560147421.mp4"}
+{"uid":"12442204569619269477","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the 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: Open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Open the door 2- Exit the door 3- Close the door 4- Pickup the notepad 5- Exit the hall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e","video":"7629504402932761861.mp4"}
+{"uid":"6729742484848533412","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the hall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria Q: immediate next step? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen Q: immediate next step? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the hall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the hall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back the notepad and pen and when coming back can you get me a laffy taffy from Mk kitchen . last 20 steps: 1- Place the pen on existing notepad 2- Place the notepad on the rack 3- Open the door 4- Exit the door 5- Close the door 6- Pickup the notepad 7- Exit the hall 8- Place the notepad on the table 9- Place the pen in the stand 10- Place the notepad in the stand 11- Pickup the banana 12- Exit the cafeteria Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the hall 2- Open the door 3- Close the door 4- Place the banana near the laptop 5- done\n\u003c/PRED\u003e","video":"7360598772629040631.mp4"}
+{"uid":"16216702133889591518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white 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":"4920830089344899864.mp4"}
+{"uid":"11645006376785899292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7579444816767039138.mp4"}
+{"uid":"2933548156552593626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stack 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":"18302763623376868413.mp4"}
+{"uid":"7946768601430792546","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":"6769539408377034918.mp4"}
+{"uid":"6916326453822084218","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen 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: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put sticky notes on the table 3- put pen on the sticky notes 4- pick up sticky notes with pen 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5782269553718672884.mp4"}
+{"uid":"10105631567865345451","text":"\u003ctask:success:discrete:False\u003e\nMove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the left 2- Drop the white spoon into the glass 3- Move your arm upwards 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon Q: immediate next step? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e","video":"12759223147958109183.mp4"}
+{"uid":"6212192965860891909","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the water bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door Q: immediate next step? \u003cPRED\u003eA: pickup the water bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the water bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the water bottle 2- place the bottle on table rack 3- Close fridge 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: pickup the water bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the water bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the water bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4975900256037457971.mp4"}
+{"uid":"16551994982692435530","text":"\u003ctask:success:discrete:True\u003e\nplace the bottle on table 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: place the bottle on table rack\n\u003c/PRED\u003e","video":"9812814758852878233.mp4"}
+{"uid":"16980730735298561293","text":"\u003ctask:success:discrete:True\u003e\npickup the water bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the water bottle\n\u003c/PRED\u003e","video":"17177617171178154684.mp4"}
+{"uid":"11394803031547835384","text":"\u003ctask:success:discrete:True\u003e\nplace the blue plastic 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue plastic bottle on the table\n\u003c/PRED\u003e","video":"10238103421028326691.mp4"}
+{"uid":"8861778318394630926","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the blue plastic bottle from the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the blue plastic bottle from the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18376962547653613200.mp4"}
+{"uid":"16699733214171386697","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":"7904183172832144898.mp4"}
+{"uid":"17598963307234768121","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the fork into the white glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the fork into the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7714808236605773702.mp4"}
+{"uid":"10476630249378421758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"501700850869315075.mp4"}
+{"uid":"2342044599212651655","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop a blue water bottle in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop a blue water bottle in 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":"12180593911973927682.mp4"}
+{"uid":"12705521705497230525","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2885039327654206363.mp4"}
+{"uid":"12083474608243302607","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the fork from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the fork from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the fork from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the fork 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 fork from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Pick up the fork from the table\n\u003c/PRED\u003e","video":"8072855460846842862.mp4"}
+{"uid":"15999125944888892462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the green plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16086688031740033484.mp4"}
+{"uid":"6401136053763469750","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack Q: next 5 steps? \u003cPRED\u003eA: 1- close the fridge 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack Q: immediate next step? \u003cPRED\u003eA: close the fridge\n\u003c/PRED\u003e","video":"41601890403295556.mp4"}
+{"uid":"16937944362751874528","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen fridge 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\nopen fridge 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: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: open fridge door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack 4- Close fridge 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open fridge door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open fridge door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open fridge door\n\u003c/PRED\u003e","video":"16074763735246096573.mp4"}
+{"uid":"13815815221415129712","text":"\u003ctask:success:discrete:True\u003e\nPick up the fork 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 fork from the table\n\u003c/PRED\u003e","video":"16168297455332995428.mp4"}
+{"uid":"7869114100608502018","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put pen on the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen 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:affordance:discriminative:discrete:True\u003e\nput pen 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table 3- put sticky notes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the sticky notes 2- pick up sticky notes with pen 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table 3- put sticky notes on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the sticky notes\n\u003c/PRED\u003e","video":"14651759245602030719.mp4"}
+{"uid":"13185087455381530148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease 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":"14307631794023563413.mp4"}
+{"uid":"12276697977233725379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the red 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":"1310787328171148710.mp4"}
+{"uid":"11554635436941522366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tong in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14436627666370325414.mp4"}
+{"uid":"16237916975112079847","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the fork into the white glass 2- Pick the white spoon 3- Move to the left 4- Drop the white spoon into the glass 5- Move your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the fork into the white glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards Q: immediate next step? \u003cPRED\u003eA: Drop the fork into the white glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the fork into the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Drop the fork into the white glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the fork into the white glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the fork into the white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9481117399578633484.mp4"}
+{"uid":"8200832431724169910","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: place the blue plastic 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 plastic bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue plastic 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue plastic bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue plastic bottle on the table 2- Close fridge 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle Q: immediate next step? \u003cPRED\u003eA: place the blue plastic bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue plastic bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9311024915844444475.mp4"}
+{"uid":"17760291438119913476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2248756928838816548.mp4"}
+{"uid":"18186599460408566738","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":"14320423150714712477.mp4"}
+{"uid":"4048097145379714092","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up sticky notes with pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up sticky notes with 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:planning:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up sticky notes with pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table 3- put sticky notes on the table 4- put pen on the sticky notes Q: immediate next step? \u003cPRED\u003eA: pick up sticky notes with pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up sticky notes with pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up sticky notes with pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table 3- put sticky notes on the table 4- put pen on the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- pick up sticky notes with pen 2- done\n\u003c/PRED\u003e","video":"1188562266798115429.mp4"}
+{"uid":"1681720483175633996","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4708619830811022259.mp4"}
+{"uid":"15463170454329159289","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table 3- put sticky notes on the table 4- put pen on the sticky notes 5- pick up sticky notes with pen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up sticky notes with 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table 3- put sticky notes on the table 4- put pen on the sticky notes 5- pick up sticky notes with pen Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up sticky notes with pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9749813453839246328.mp4"}
+{"uid":"10584102323510616858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the shaving brush 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":"8960540543924000234.mp4"}
+{"uid":"13314691421180235179","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Pick the white spoon\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the white spoon\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the white spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass Q: immediate next step? \u003cPRED\u003eA: Pick the white spoon\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the white spoon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the white spoon 2- Move to the left 3- Drop the white spoon into the glass 4- Move your arm upwards 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the white spoon\n\u003c/PRED\u003e","video":"1112439586804329384.mp4"}
+{"uid":"17380286934147174453","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left 6- Drop the white spoon into the glass 7- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left 6- Drop the white spoon into the glass 7- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Move downwards 2- done\n\u003c/PRED\u003e","video":"13181632766852467545.mp4"}
+{"uid":"5731090160998521654","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open fridge 2- pickup the water bottle 3- place the bottle on table rack 4- Close fridge 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: Open fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open fridge\n\u003c/PRED\u003e","video":"13950553291915440307.mp4"}
+{"uid":"12270890433672659851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"380233685062506143.mp4"}
+{"uid":"16394511020247477858","text":"\u003ctask:success:discrete:False\u003e\nDrop a blue water bottle in the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 a blue water bottle in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door Q: next 5 steps? \u003cPRED\u003eA: 1- Drop a blue water bottle in the table 2- Close fridge 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop a blue water bottle in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door Q: immediate next step? \u003cPRED\u003eA: Drop a blue water bottle in the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: Drop a blue water bottle in the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop a blue water bottle in the table\n\u003c/PRED\u003e","video":"14032118947030888287.mp4"}
+{"uid":"3173778832278097497","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left Q: immediate next step? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm upwards 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e","video":"5075971256880726379.mp4"}
+{"uid":"17491508042107809905","text":"\u003ctask:success:discrete:True\u003e\nopen fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open fridge door\n\u003c/PRED\u003e","video":"17629332038433022294.mp4"}
+{"uid":"6610434233830986068","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the blue plastic bottle from the fridge 2- place the bottle on table rack 3- Close fridge 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the blue plastic bottle from the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: Pick the blue plastic bottle from the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the blue plastic bottle from the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door Q: immediate next step? \u003cPRED\u003eA: Pick the blue plastic bottle from the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the blue plastic bottle from the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the blue plastic bottle from the fridge\n\u003c/PRED\u003e","video":"13392402062641247386.mp4"}
+{"uid":"17948452690199123212","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the white spoon into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the white spoon into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the white spoon into the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the white spoon into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Drop the white spoon into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left Q: immediate next step? \u003cPRED\u003eA: Drop the white spoon into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the white spoon into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9073776156516625077.mp4"}
+{"uid":"7269527763568537907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"2546485073764704325.mp4"}
+{"uid":"5699193385524478567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17342191405603887174.mp4"}
+{"uid":"12597343882877091458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15220519296935149562.mp4"}
+{"uid":"302671379815152102","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky notes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put sticky notes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk. last 20 steps: 1- pick up sanitizer bottle 2- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky notes on the table 2- put pen on the sticky notes 3- pick up sticky notes with pen 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put sanitizer back and while coming back can you get me a pen and a notepad and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"5502074837949863764.mp4"}
+{"uid":"1676283313429723575","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- pickup the water bottle 3- place the bottle on table rack 4- Close fridge 5- done\n\u003c/PRED\u003e","video":"9208857460977168859.mp4"}
+{"uid":"17150028788834719276","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move upwards 2- Drop the fork into the white glass 3- Pick the white spoon 4- Move to the left 5- Drop the white spoon into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: Move upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table Q: immediate next step? \u003cPRED\u003eA: Move upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move upwards\n\u003c/PRED\u003e","video":"6252904996611237038.mp4"}
+{"uid":"10772369084482517233","text":"\u003ctask:success:discrete:True\u003e\nClose fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack 4- Close fridge Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack 4- Close fridge Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2263701899059960933.mp4"}
+{"uid":"6882572915223948273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3062151665709787238.mp4"}
+{"uid":"7399268008944572057","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on table rack 2- Close fridge 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle on table rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: place the bottle on table rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bottle on table 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: place the bottle on table rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle Q: immediate next step? \u003cPRED\u003eA: place the bottle on table rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on table 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","video":"9961725260567306103.mp4"}
+{"uid":"7319053285368588119","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":"15066091871268718397.mp4"}
+{"uid":"1214497601820920588","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":"16221920732299386722.mp4"}
+{"uid":"16308113699259189189","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left 6- Drop the white spoon into the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the white spoon into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left 6- Drop the white spoon into the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place utensils back into cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the white spoon into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"844316260696816557.mp4"}
+{"uid":"14889041344257725205","text":"\u003ctask:success:discrete:True\u003e\nPick the white spoon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 white spoon\n\u003c/PRED\u003e","video":"6418043054691353337.mp4"}
+{"uid":"4680051932455746208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the gray pen 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":"2060969362318155611.mp4"}
+{"uid":"2243606412787549726","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e","video":"8587765761887225898.mp4"}
+{"uid":"1574396384070285235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8876686635950839756.mp4"}
+{"uid":"15049354144560300963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"15042030018198987720.mp4"}
+{"uid":"11769711652498452191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13633585718437485648.mp4"}
+{"uid":"14261736529251208862","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack Q: next 5 steps? \u003cPRED\u003eA: 1- Close fridge 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack Q: immediate next step? \u003cPRED\u003eA: Close fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: Close fridge\n\u003c/PRED\u003e","video":"17506333539247885365.mp4"}
+{"uid":"6966724793147237992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14178695729838332878.mp4"}
+{"uid":"309896047530222711","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left 6- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place utensils back into cup. last 20 steps: 1- Pick up the fork from the table 2- Move upwards 3- Drop the fork into the white glass 4- Pick the white spoon 5- Move to the left 6- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 utensils back into cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15762142935128369866.mp4"}
+{"uid":"1089944233424035706","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack 4- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door. last 20 steps: 1- open fridge door 2- pickup the water bottle 3- place the bottle on table rack 4- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the left side fridge door, bring a tea to the cart, then close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"2286247352790287875.mp4"}
+{"uid":"10006681092997107793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in the red 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":"1269288516045692964.mp4"}
+{"uid":"3367957384509061326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3286249369127329482.mp4"}
+{"uid":"8548862607035607425","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"5831395686014501796.mp4"}
+{"uid":"14377780042618737781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5510921956882881367.mp4"}
+{"uid":"6249412206371156961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white 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":"12909580641594232294.mp4"}
+{"uid":"9613808677135466239","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":"14741791785864215827.mp4"}
+{"uid":"10560413445025074394","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6298148503774066296.mp4"}
+{"uid":"3305308559460234272","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":"4463407505166621536.mp4"}
+{"uid":"5279579207812766014","text":"\u003ctask:success:discrete:True\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"7794839223144224243.mp4"}
+{"uid":"8854576844650629468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book on the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"933321598296238898.mp4"}
+{"uid":"15266087943059882159","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- place bowl on table 3- unstack a bowl 4- unstack a cup 5- put the small orange in the empty bowl\n\u003c/PRED\u003e","video":"6353314152933185552.mp4"}
+{"uid":"3811106866648770592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16829186458885902887.mp4"}
+{"uid":"3070066394377409834","text":"\u003ctask:success:discrete:False\u003e\nplace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- put 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 snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"792508791102202190.mp4"}
+{"uid":"10366102228409845885","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl 11- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl 11- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"11583185327518144472.mp4"}
+{"uid":"13132922669445733221","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: place glass on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace glass 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table Q: immediate next step? \u003cPRED\u003eA: place glass on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glass on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace glass 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- place glass on table 2- unstack a cup 3- unstack a cup 4- place bowl on table 5- unstack a bowl\n\u003c/PRED\u003e","video":"2710886925242578815.mp4"}
+{"uid":"15203135924067342271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the brown paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13914073307826511651.mp4"}
+{"uid":"994094940314541098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put white bowl on table 2- unstack a bowl 3- unstack a cup 4- put the small orange in the empty bowl 5- drop orange on bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup Q: immediate next step? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white bowl on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white bowl on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e","video":"10385363294163714170.mp4"}
+{"uid":"16945556686380319325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14689206209472990441.mp4"}
+{"uid":"16712123454819575560","text":"\u003ctask:success:discrete:False\u003e\nmove arm upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table Q: next 5 steps? \u003cPRED\u003eA: 1- move arm upward 2- unstack a cup 3- put the small orange in the empty bowl 4- drop orange on bowl 5- drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7813877531755485904.mp4"}
+{"uid":"11896679678507839643","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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 popcorn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12997338173653729511.mp4"}
+{"uid":"2451798240750911924","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"3712665644550515476.mp4"}
+{"uid":"51603479158722426","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- unstack a cup 3- unstack a cup 4- place bowl on table 5- unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"15694165965845355069.mp4"}
+{"uid":"13897984013391023360","text":"\u003ctask:success:discrete:False\u003e\nput orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- drop orange on bowl 3- drop orange into bowl 4- drop orange into bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"11662353472278912039.mp4"}
+{"uid":"8791656386878107212","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- unstack a cup 3- place bowl on table 4- unstack a bowl 5- unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"17386712287637363321.mp4"}
+{"uid":"11934020622686404206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"12623083062725285678.mp4"}
+{"uid":"8801301439050662037","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange on bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange on bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: immediate next step? \u003cPRED\u003eA: drop orange on bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange on bowl 2- drop orange into bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange on bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange on bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop orange on bowl\n\u003c/PRED\u003e","video":"13371201517578067950.mp4"}
+{"uid":"1395954559261075716","text":"\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"14259289485966647411.mp4"}
+{"uid":"3565408170945106186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the blue marker tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12192305718332006905.mp4"}
+{"uid":"15712193128439607875","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"1055589312785989763.mp4"}
+{"uid":"2913256579794707112","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":"15218919573045741176.mp4"}
+{"uid":"9880902933435548833","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a bowl 2- unstack a cup 3- put the small orange in the empty bowl 4- drop orange on bowl 5- drop orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e","video":"11458016873075592830.mp4"}
+{"uid":"7104185481522480500","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small orange in the empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl 11- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl 11- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the small orange in the empty bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e","video":"16433503736044120832.mp4"}
+{"uid":"2604961169775522567","text":"\u003ctask:success:discrete:True\u003e\nplace bowl on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place bowl on table\n\u003c/PRED\u003e","video":"9472095810083470953.mp4"}
+{"uid":"10602623640232196279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15818963390687943729.mp4"}
+{"uid":"13142514161642908199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6322557581764490672.mp4"}
+{"uid":"9485813192676350371","text":"\u003ctask:success:discrete:False\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- drop orange into bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"15417007148387298650.mp4"}
+{"uid":"17153028942886365978","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- drop orange into bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"7925819208250431888.mp4"}
+{"uid":"768600460095176945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"237269599391105601.mp4"}
+{"uid":"4682812537526299957","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl 11- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl 11- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"12373250262409617336.mp4"}
+{"uid":"7712548766864318884","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- unstack a cup 3- place bowl on table 4- unstack a bowl 5- unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7627874996697373991.mp4"}
+{"uid":"9638264815863836254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6850832060321057541.mp4"}
+{"uid":"11280480304552328029","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a bowl 2- unstack a bowl 3- unstack a cup 4- put the small orange in the empty bowl 5- drop orange on bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a bowl\n\u003c/PRED\u003e","video":"12081401284012051702.mp4"}
+{"uid":"7240857676445452185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16744250740740560561.mp4"}
+{"uid":"7990203883674945295","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":"6346046180367453348.mp4"}
+{"uid":"15718169017893932703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush 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":"2856391029875646688.mp4"}
+{"uid":"16911876368594778420","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: 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:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks 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 snacks from the tray. last 20 steps: none 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 packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"2450716783924327806.mp4"}
+{"uid":"3403058563865427057","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":"7142306026756189130.mp4"}
+{"uid":"10712053295653935871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the trash in the trash can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13546689629122642378.mp4"}
+{"uid":"9701664042865432903","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace glass 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":"10784066232863571115.mp4"}
+{"uid":"6247708100277796455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from 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":"9212095673079817016.mp4"}
+{"uid":"10630399137932398662","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"15535721918200187418.mp4"}
+{"uid":"9821577297617907283","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"12544784234515016036.mp4"}
+{"uid":"467461129987029440","text":"\u003ctask:success:discrete:False\u003e\nput the large orange in the empty bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the large orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the large orange in the empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the large orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the large orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the large orange in the empty bowl 2- drop orange into bowl 3- drop orange into bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: immediate next step? \u003cPRED\u003eA: put the large orange in the empty bowl\n\u003c/PRED\u003e","video":"14930242500399778914.mp4"}
+{"uid":"5576847813044959712","text":"\u003ctask:success:discrete:True\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"2107939071728699822.mp4"}
+{"uid":"10736024588569290990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4497096434968355749.mp4"}
+{"uid":"3872139765158242903","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small orange in the empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small orange in the empty bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the small orange in the empty bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl 10- drop orange on bowl Q: immediate next step? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e","video":"2040490806798499224.mp4"}
+{"uid":"16854362547968329269","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- 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: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 snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"3482610951406686000.mp4"}
+{"uid":"14935735826508858816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the original packet in the organizing tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18204319956663598011.mp4"}
+{"uid":"6661853453001281728","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- unstack a cup 3- unstack a cup 4- place bowl on table 5- unstack a bowl\n\u003c/PRED\u003e","video":"1259223950231655.mp4"}
+{"uid":"16261692100381392793","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- 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 orange packet on the table\n\u003c/PRED\u003e","video":"523713304002493891.mp4"}
+{"uid":"86350448909863873","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"3127327417592382064.mp4"}
+{"uid":"13990947386110372308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red 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":"14985457242280952712.mp4"}
+{"uid":"17551845760535373692","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"101285854676148451.mp4"}
+{"uid":"10703979471106362481","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":"773201227202389619.mp4"}
+{"uid":"11044703740647877735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11618678815349605854.mp4"}
+{"uid":"15567286207367693638","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- put 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 snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"7347523645348236177.mp4"}
+{"uid":"11588544980346736103","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup\n\u003c/PRED\u003e","video":"3483851635187021421.mp4"}
+{"uid":"5444654569486662786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red unreal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5999347963368455534.mp4"}
+{"uid":"8883842062186108392","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: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:planning:freeform\u003e\ncurrent goal is: please remove the snacks 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 snacks from the tray. last 20 steps: 1- put packet 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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- put packet on the table 5- done\n\u003c/PRED\u003e","video":"3965857103254720025.mp4"}
+{"uid":"14851820407675331504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper clip 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":"16520936064540329807.mp4"}
+{"uid":"2417187210612046639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6540021230864865111.mp4"}
+{"uid":"4637754182979960235","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":"12749421991397387862.mp4"}
+{"uid":"8090208524863483818","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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 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 snacks from the tray. last 20 steps: 1- put packet 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: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":"10828906781168341919.mp4"}
+{"uid":"12610504159296817589","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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- place the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e","video":"17485762593330050089.mp4"}
+{"uid":"6553447174147996658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13883858316762324519.mp4"}
+{"uid":"7661247092440035033","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":"2856359666466148204.mp4"}
+{"uid":"481641407978674910","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":"6393447000621121617.mp4"}
+{"uid":"10233030996005224415","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- place bowl on table 3- unstack a bowl 4- unstack a cup 5- put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"4895243992453624818.mp4"}
+{"uid":"17699639721817239551","text":"\u003ctask:success:discrete:True\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"6155138678143651711.mp4"}
+{"uid":"10789961019517385197","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- place glass on table 3- unstack a cup 4- unstack a cup 5- place bowl on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"6712731096212699673.mp4"}
+{"uid":"1516165077376300806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1243537519296093160.mp4"}
+{"uid":"8882672275132072644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2036043314882549714.mp4"}
+{"uid":"8856865535498082361","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray 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 snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put 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: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":"547590026240487844.mp4"}
+{"uid":"10840816106096604838","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put white bowl on table 2- put the small orange in the empty bowl 3- drop orange on bowl 4- drop orange into bowl 5- drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white bowl 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl Q: immediate next step? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e","video":"11010761377341568813.mp4"}
+{"uid":"14639849650245522192","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"14867838110635325688.mp4"}
+{"uid":"183912781450638630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10031481791851044453.mp4"}
+{"uid":"1543832350264124855","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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 packet on the table 3- put 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet 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","video":"18400977449075651620.mp4"}
+{"uid":"11653086358974233015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17830790587435209540.mp4"}
+{"uid":"4310415035378671665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"15245607968552384504.mp4"}
+{"uid":"1205244768956439536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace glass 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":"10500573693550444964.mp4"}
+{"uid":"7432223916862153085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2582986968173655513.mp4"}
+{"uid":"18367443921587877726","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":"4360930061359670405.mp4"}
+{"uid":"16309231870289090715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the middle 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":"16770706242432986686.mp4"}
+{"uid":"6102422961720671669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14147673003933868834.mp4"}
+{"uid":"17162293005470575894","text":"\u003ctask:success:discrete:False\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- put the small orange in the empty bowl 3- drop orange on bowl 4- drop orange into bowl 5- drop orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"2208763938110978325.mp4"}
+{"uid":"11954319370046150079","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table Q: next 5 steps? \u003cPRED\u003eA: 1- put white bowl on table 2- unstack a cup 3- put the small orange in the empty bowl 4- drop orange on bowl 5- drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white bowl 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: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table Q: immediate next step? \u003cPRED\u003eA: put white bowl on table\n\u003c/PRED\u003e","video":"2399372553163226903.mp4"}
+{"uid":"18291874826271023149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toffee 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":"3284279341964227717.mp4"}
+{"uid":"15563307632299002572","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"13036638206190937276.mp4"}
+{"uid":"13982340509437790816","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- unstack a cup 3- unstack a cup 4- place bowl on table 5- unstack a bowl\n\u003c/PRED\u003e","video":"3632253481201629371.mp4"}
+{"uid":"7502229175303708083","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":"5992116341333964075.mp4"}
+{"uid":"14305209846229033817","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray 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 snacks from the tray. last 20 steps: 1- 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- put packet on the table 5- 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":"11887325883026386101.mp4"}
+{"uid":"13158384994025570323","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":"15564087984885313390.mp4"}
+{"uid":"11423987622256102622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3626784944831474595.mp4"}
+{"uid":"2940877663641403965","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the small orange in the empty bowl 2- drop orange on bowl 3- drop orange into bowl 4- drop orange into bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small orange in the empty bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small orange in the empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup Q: immediate next step? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small orange in the empty bowl\n\u003c/PRED\u003e","video":"2621100721866246016.mp4"}
+{"uid":"175724087335525317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a toffee 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":"13239650923265124149.mp4"}
+{"uid":"5096191760938134925","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bowl on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace bowl 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: place bowl on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup Q: immediate next step? \u003cPRED\u003eA: place bowl on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: place bowl on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace bowl 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- place bowl on table 2- unstack a bowl 3- unstack a cup 4- put the small orange in the empty bowl 5- drop orange on bowl\n\u003c/PRED\u003e","video":"13503310949797909784.mp4"}
+{"uid":"16850511477657424613","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":"6951939623109774531.mp4"}
+{"uid":"9156346465612539367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12283518645064334919.mp4"}
+{"uid":"629661216879853977","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":"11578871522354474736.mp4"}
+{"uid":"17188698419954086647","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- drop orange into bowl 3- drop orange into bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- place glass on table 2- unstack a cup 3- place glass on table 4- unstack a cup 5- unstack a cup 6- place bowl on table 7- unstack a bowl 8- unstack a cup 9- put the small orange in the empty bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"3114843077315024991.mp4"}
+{"uid":"17334953890983386288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2590039549990911284.mp4"}
+{"uid":"16456995200580163218","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green pen 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2742579616258478952.mp4"}
+{"uid":"5215578054784955621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16158082445929844250.mp4"}
+{"uid":"26884583409759052","text":"\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 snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray 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 snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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":"15879542352110751447.mp4"}
+{"uid":"1788049104698598182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"56083184872560527.mp4"}
+{"uid":"14710846402709461422","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the yellow ball into the left transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow ball into the left transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow ball into the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow ball into the left transparent glass 2- drop the yellow marker in the third right transparent glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow ball into the left transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow ball into the left transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass Q: immediate next step? \u003cPRED\u003eA: Drop the yellow ball into the left transparent glass\n\u003c/PRED\u003e","video":"1033821476296400484.mp4"}
+{"uid":"14644858158558255541","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":"1658125110710132094.mp4"}
+{"uid":"13679768390295304700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14128814240221851911.mp4"}
+{"uid":"8743433915433580282","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17949080829036091799.mp4"}
+{"uid":"2051148839323698997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17076379142195480248.mp4"}
+{"uid":"12156446039585889704","text":"\u003ctask:success:discrete:True\u003e\nmove to the right transparent 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: move to the right transparent glass\n\u003c/PRED\u003e","video":"6423150399590192918.mp4"}
+{"uid":"8009962388535566895","text":"\u003ctask:success:discrete:True\u003e\nPlace the green marker in the right side transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green marker in the right side transparent glass\n\u003c/PRED\u003e","video":"10007284473176644604.mp4"}
+{"uid":"14927061099506971988","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green marker in the right transparent glass 2- Drop the blue ball into the center glass 3- Pick up the blue marker on the table 4- Drop the blue marker into the center glass 5- pick the yellow ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: drop the green marker in the right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green marker in the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green marker in the right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green marker in the right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table Q: immediate next step? \u003cPRED\u003eA: drop the green marker in the right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green marker in the right transparent glass\n\u003c/PRED\u003e","video":"18209563428284908469.mp4"}
+{"uid":"17311773009018402024","text":"\u003ctask:success:discrete:True\u003e\nDrop the green marker into the right transparent 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: Drop the green marker into the right transparent glass\n\u003c/PRED\u003e","video":"5687982199840932656.mp4"}
+{"uid":"3738002138597878484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3305266445763997965.mp4"}
+{"uid":"17280156048260867792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue 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":"10181934090272132552.mp4"}
+{"uid":"4346115160991547316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npress the key of the pen with the note book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8016180832216033528.mp4"}
+{"uid":"4534599288034393309","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue marker from the table 2- Drop the blue marker into the center glass 3- pick the yellow ball 4- drop the yellow ball in the third right transparent glass 5- pick the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e","video":"752108303116164904.mp4"}
+{"uid":"13088087145967955342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"4935804858682004524.mp4"}
+{"uid":"14493829985999005812","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the yellow marker in the third right transparent 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: drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker 12- drop the yellow marker in the third right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker 12- drop the yellow marker in the third right transparent glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8053502319523630073.mp4"}
+{"uid":"13938423753812592422","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: drop the green ball in the right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green ball in the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the green ball in the right transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green ball in the right transparent glass 2- Pick the green marker on the table 3- Drop the green marker into the right transparent glass 4- Pick up the blue ball on the table 5- Drop the blue ball into the center glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green ball in the right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green ball in the right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green ball in the right transparent glass\n\u003c/PRED\u003e","video":"7449806472354036306.mp4"}
+{"uid":"13494586021120482229","text":"\u003ctask:success:discrete:True\u003e\nPick up the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- Pick up the yellow marker Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- Pick up the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e","video":"10449067427986191546.mp4"}
+{"uid":"8625112358096526833","text":"\u003ctask:success:discrete:True\u003e\nDrop the yellow marker into the left transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker 12- Drop the yellow marker into the left transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker 12- Drop the yellow marker into the left transparent glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the yellow marker into the left transparent glass\n\u003c/PRED\u003e","video":"5787703453508994166.mp4"}
+{"uid":"18000598980659925212","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Release the blue ball in the middle transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the blue ball in the middle transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the blue ball in the middle transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the blue ball in the middle transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- Release the blue ball in the middle transparent glass 2- Pick up the blue marker on the table 3- Drop the blue marker into the center glass 4- pick the yellow ball 5- drop the yellow ball in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the blue ball in the middle transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: immediate next step? \u003cPRED\u003eA: Release the blue ball in the middle transparent glass\n\u003c/PRED\u003e","video":"1709088602573922338.mp4"}
+{"uid":"11925940409272213906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1366936408892444110.mp4"}
+{"uid":"15331575023458324089","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green ball on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the green ball 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":"18235312459146370146.mp4"}
+{"uid":"4152802708154617746","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green ball in the right side transparent glass 2- Pick the green marker on the table 3- Drop the green marker into the right transparent glass 4- Pick up the blue ball on the table 5- Drop the blue ball into the center glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green ball in the right side transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green ball in the right side transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the green ball in the right side transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green ball in the right side transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the green ball in the right side transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green ball in the right side transparent glass\n\u003c/PRED\u003e","video":"17219406536296403806.mp4"}
+{"uid":"1647272538178568139","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right transparent glass 2- Pick up the blue ball on the table 3- Drop the blue ball into the center glass 4- Pick up the blue marker on the table 5- Drop the blue marker into the center glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right transparent glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: move to the right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass Q: immediate next step? \u003cPRED\u003eA: move to the right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6995149255567923397.mp4"}
+{"uid":"5517634398966622548","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2808978364433029930.mp4"}
+{"uid":"10880593408830075261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in the left 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":"4237782901847696960.mp4"}
+{"uid":"5541279494701439399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown 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":"928859101079571383.mp4"}
+{"uid":"8448880941383976148","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker from the table 2- drop the yellow marker in the third right transparent glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e","video":"9841354500628176294.mp4"}
+{"uid":"14799925063866262510","text":"\u003ctask:success:discrete:True\u003e\nDrop the green ball in the right side transparent 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: Drop the green ball in the right side transparent glass\n\u003c/PRED\u003e","video":"4978206192146457081.mp4"}
+{"uid":"17516441020610796178","text":"\u003ctask:success:discrete:False\u003e\npick the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 green ball\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green ball 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9942453681973881289.mp4"}
+{"uid":"18342208090698074878","text":"\u003ctask:success:discrete:True\u003e\npick the yellow ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e","video":"3920657938186546310.mp4"}
+{"uid":"14524979469885033227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8844095403851368149.mp4"}
+{"uid":"12907830504876076491","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green marker in the right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green marker in the right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"526292383707077742.mp4"}
+{"uid":"13437031902186180876","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the green ball into the right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the green ball into the right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4287026023538814776.mp4"}
+{"uid":"8890693919466171187","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green marker into the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green marker into the right transparent glass 2- Pick up the blue ball on the table 3- Drop the blue ball into the center glass 4- Pick up the blue marker on the table 5- Drop the blue marker into the center glass\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 right transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green marker into the right transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green marker into the right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the right transparent glass\n\u003c/PRED\u003e","video":"17538612076385879430.mp4"}
+{"uid":"9759736813118023113","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":"10790770976760587010.mp4"}
+{"uid":"7863072351266937966","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15748181760278816313.mp4"}
+{"uid":"4452394898422652512","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue ball in the second right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: immediate next step? \u003cPRED\u003eA: drop the blue ball in the second right transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue ball in the second right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue ball in the second right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue ball in the second right transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue ball in the second right transparent glass 2- Pick up the blue marker on the table 3- Drop the blue marker into the center glass 4- pick the yellow ball 5- drop the yellow ball in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: drop the blue ball in the second right transparent glass\n\u003c/PRED\u003e","video":"18079595631500330787.mp4"}
+{"uid":"9312526172310805305","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue ball on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue ball on the table 2- Drop the blue ball into the center glass 3- Pick up the blue marker on the table 4- Drop the blue marker into the center glass 5- pick the yellow ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the blue ball on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: immediate next step? \u003cPRED\u003eA: Pick up the blue ball on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue ball 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\nPick up the blue ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 ball on the table\n\u003c/PRED\u003e","video":"17216558210501564100.mp4"}
+{"uid":"8445869479225872529","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow marker in the left side transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow marker in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- Put the yellow marker in the left side transparent glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- Put the yellow marker in the left side transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11098533544821458665.mp4"}
+{"uid":"6779625697806382131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9225725902058961973.mp4"}
+{"uid":"1572139150728383326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two yellow packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10878482466803602280.mp4"}
+{"uid":"12567884085275539427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the existing 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":"771264305216356961.mp4"}
+{"uid":"1106587847872939785","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue marker into the center glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the blue marker into the center glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4061614012850126152.mp4"}
+{"uid":"16533124231551874127","text":"\u003ctask:success:discrete:True\u003e\ndrop the green ball in the right transparent 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: drop the green ball in the right transparent glass\n\u003c/PRED\u003e","video":"17159412895395395673.mp4"}
+{"uid":"2955542974364884922","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":"4249777195418529999.mp4"}
+{"uid":"20024138048091493","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1251554045258766330.mp4"}
+{"uid":"7400531329860216276","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the blue ball into the center glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue ball into the center glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue ball into the center glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue ball into the center glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue ball into the center glass 2- Drop the blue marker into the center glass 3- pick the yellow ball 4- drop the yellow ball in the third right transparent glass 5- pick the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue ball into the center glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue ball into the center glass\n\u003c/PRED\u003e","video":"4456560351095233968.mp4"}
+{"uid":"4947769780985446723","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green ball into the right transparent glass 2- Drop the green marker into the right transparent glass 3- Pick up the blue ball on the table 4- Drop the blue ball into the center glass 5- Pick up the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green ball into the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green ball into the right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the green ball into the right transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green ball into the right transparent glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the green ball into the right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green ball into the right transparent glass\n\u003c/PRED\u003e","video":"17085417335662994527.mp4"}
+{"uid":"9251891851820749076","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the left side transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Move away from the left side transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the left side transparent glass 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the left side transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker Q: immediate next step? \u003cPRED\u003eA: Move away from the left side transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the left side transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the left side transparent glass\n\u003c/PRED\u003e","video":"2516818173278685544.mp4"}
+{"uid":"10382725275339336232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: Lift the yellow ball from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the yellow ball from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the yellow ball from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the yellow ball from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the yellow ball 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 color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the yellow ball from the table 2- drop the yellow ball in the third right transparent glass 3- pick the yellow marker 4- drop the yellow marker in the third right transparent glass 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Lift the yellow ball from the table\n\u003c/PRED\u003e","video":"12668577401101452279.mp4"}
+{"uid":"16456713932583275749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tilted 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":"10343357126975142619.mp4"}
+{"uid":"4317639829511984268","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green ball\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3156808777640543763.mp4"}
+{"uid":"15791031957278805754","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: drop the yellow ball in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball Q: immediate next step? \u003cPRED\u003eA: drop the yellow ball in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow ball in the third right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow ball in the third right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow ball in the third right transparent glass 2- pick the yellow marker 3- drop the yellow marker in the third right transparent glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow ball in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow ball in the third right transparent glass\n\u003c/PRED\u003e","video":"14753291126488964878.mp4"}
+{"uid":"7964381277317094626","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow marker in the third right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow marker in the third right transparent glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow marker in the third right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e","video":"13186310816440719760.mp4"}
+{"uid":"11561319089812132524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the other dip into the another 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":"8507362152895701941.mp4"}
+{"uid":"8834489858091578177","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker in the middle transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker in the middle transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker in the middle transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the middle transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue marker in the middle transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the middle transparent glass 2- pick the yellow ball 3- drop the yellow ball in the third right transparent glass 4- pick the yellow marker 5- drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the middle transparent glass\n\u003c/PRED\u003e","video":"7995029394063878143.mp4"}
+{"uid":"7703203496812368276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green 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":"15925148866295489178.mp4"}
+{"uid":"7926630018438659435","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5182562546183772281.mp4"}
+{"uid":"10068007413804563106","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green marker 2- Drop the green marker into the right transparent glass 3- Pick up the blue ball on the table 4- Drop the blue ball into the center glass 5- Pick up the blue marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table Q: immediate next step? \u003cPRED\u003eA: pick the green marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: pick the green marker\n\u003c/PRED\u003e","video":"7127044846692762608.mp4"}
+{"uid":"10193562994934788968","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker 2- Pick up the blue marker on the table 3- Drop the blue marker into the center glass 4- pick the yellow ball 5- drop the yellow ball in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e","video":"3241144307046547780.mp4"}
+{"uid":"10540507473591762564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink 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":"5369938443643218617.mp4"}
+{"uid":"11108761221157616799","text":"\u003ctask:success:discrete:False\u003e\nPick the green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the green marker on the table 2- Pick up the blue ball on the table 3- Drop the blue ball into the center glass 4- Pick up the blue marker on the table 5- Drop the blue marker into the center glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table Q: immediate next step? \u003cPRED\u003eA: Pick the green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the green marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick the green marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the green marker on the table\n\u003c/PRED\u003e","video":"7770147104525058781.mp4"}
+{"uid":"7824470598514051445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12091054977025429299.mp4"}
+{"uid":"17878861567051817159","text":"\u003ctask:success:discrete:True\u003e\nPick up the blue ball on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue ball on the table\n\u003c/PRED\u003e","video":"5159720380085902375.mp4"}
+{"uid":"1529936514835436174","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker into the center glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker into the center glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue marker into the center glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue marker into the center glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue marker into the center glass 2- drop the yellow ball in the third right transparent glass 3- pick the yellow marker 4- drop the yellow marker in the third right transparent glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue marker into the center glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue marker into the center glass\n\u003c/PRED\u003e","video":"6831172188876873727.mp4"}
+{"uid":"15370807194451040905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14763182930146436029.mp4"}
+{"uid":"3450782107511440326","text":"\u003ctask:success:discrete:True\u003e\ndrop the blue marker in the second right transparent 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: drop the blue marker in the second right transparent glass\n\u003c/PRED\u003e","video":"10351251348662582998.mp4"}
+{"uid":"9380014857236140009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9892954652585224895.mp4"}
+{"uid":"13020352978413093696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove into 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":"1660117073064135076.mp4"}
+{"uid":"10845999888424555647","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the green ball on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 color coordinate ball and highlighter into its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green ball on the table 2- Pick the green marker on the table 3- Drop the green marker into the right transparent glass 4- Pick up the blue ball on the table 5- Drop the blue ball into the center glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green ball on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green ball on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green ball 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 color coordinate ball and highlighter into its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the green ball on the table\n\u003c/PRED\u003e","video":"3442754214166177876.mp4"}
+{"uid":"2963244445724586120","text":"\u003ctask:success:discrete:True\u003e\ndrop the blue ball in the second right transparent 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: drop the blue ball in the second right transparent glass\n\u003c/PRED\u003e","video":"709414813417759238.mp4"}
+{"uid":"7988081218707524861","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10541008794482734930.mp4"}
+{"uid":"5324555938264297873","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow ball on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow ball on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow ball on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow ball on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow ball on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow ball on the table 2- drop the yellow ball in the third right transparent glass 3- pick the yellow marker 4- drop the yellow marker in the third right transparent glass 5- done\n\u003c/PRED\u003e","video":"9567131527414213899.mp4"}
+{"uid":"11157120226507540093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18334508011820578808.mp4"}
+{"uid":"7272384082159419019","text":"\u003ctask:success:discrete:True\u003e\nPick up the yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e","video":"13672877133903743147.mp4"}
+{"uid":"15840254220857457034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green object in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7554779761447674643.mp4"}
+{"uid":"16334731934409964699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10811288251328249378.mp4"}
+{"uid":"12422476398318089539","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":"16322610676694023232.mp4"}
+{"uid":"666589784650611690","text":"\u003ctask:success:discrete:True\u003e\nLift the yellow ball 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: Lift the yellow ball from the table\n\u003c/PRED\u003e","video":"12746158709296015868.mp4"}
+{"uid":"12420099480440852633","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green marker in the right side transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green marker in the right side transparent glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the right side transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green marker in the right side transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green marker in the right side transparent glass 2- Drop the blue ball into the center glass 3- Pick up the blue marker on the table 4- Drop the blue marker into the center glass 5- pick the yellow ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the right side transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green marker in the right side transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17040993832442156775.mp4"}
+{"uid":"1883397022847944328","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker into the left transparent glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker into the left transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker into the left transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow marker into the left transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass 11- pick the yellow marker Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker into the left transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow marker into the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker into the left transparent glass\n\u003c/PRED\u003e","video":"5832107389265296835.mp4"}
+{"uid":"9038655511333559639","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue marker in the second right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue marker in the second right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue marker in the second right transparent glass 2- pick the yellow ball 3- drop the yellow ball in the third right transparent glass 4- pick the yellow marker 5- drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue marker in the second right transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: drop the blue marker in the second right transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass Q: immediate next step? \u003cPRED\u003eA: drop the blue marker in the second right transparent glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue marker in the second right transparent glass\n\u003c/PRED\u003e","video":"8895563978407932330.mp4"}
+{"uid":"9199117056690771482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pens 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":"8394569143975087975.mp4"}
+{"uid":"9684532674158971632","text":"\u003ctask:success:discrete:True\u003e\nLift the green marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e","video":"14850225947776635734.mp4"}
+{"uid":"3490550883699611131","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow ball 2- drop the yellow ball in the third right transparent glass 3- pick the yellow marker 4- drop the yellow marker in the third right transparent glass 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow ball\n\u003c/PRED\u003e","video":"3324256182381135864.mp4"}
+{"uid":"323183571051010203","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green ball 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 green ball from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the green ball from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green ball from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the green ball from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green ball from the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green ball 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":"5265921294569298288.mp4"}
+{"uid":"3224413470336132891","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":"14817464625992292301.mp4"}
+{"uid":"498210236123364085","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow marker 2- drop the yellow marker in the third right transparent glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e","video":"12698256992064802514.mp4"}
+{"uid":"11591554617744032415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14017977983071655191.mp4"}
+{"uid":"803366452614415494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput markers 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":"7677875534657984904.mp4"}
+{"uid":"8700780907147380885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7077948433971100307.mp4"}
+{"uid":"10926429933495308774","text":"\u003ctask:success:discrete:False\u003e\nPick up the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue marker on the table 2- pick the yellow ball 3- drop the yellow ball in the third right transparent glass 4- pick the yellow marker 5- drop the yellow marker in the third right transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker on the table\n\u003c/PRED\u003e","video":"6078251855064142273.mp4"}
+{"uid":"14947021489001608143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4880273363941025252.mp4"}
+{"uid":"8517512789883658451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1659309546867620342.mp4"}
+{"uid":"449974945271355187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife 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":"18194311949466990752.mp4"}
+{"uid":"15155718958266245404","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue ball into the center glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the blue ball into the center glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9860162488660776548.mp4"}
+{"uid":"8174943812001634268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9823537225101099143.mp4"}
+{"uid":"12390980611370360730","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker 2- Drop the blue marker into the center glass 3- pick the yellow ball 4- drop the yellow ball in the third right transparent glass 5- pick the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e","video":"9196379092691533058.mp4"}
+{"uid":"12772446403437942502","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow marker in the left side transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the left side transparent glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow marker in the left side transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17234415341099505274.mp4"}
+{"uid":"13114436661388214300","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the green ball\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 color coordinate ball and highlighter into its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the green ball 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the green ball Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 color coordinate ball and highlighter into its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the green ball\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the green ball\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Move to the green ball\n\u003c/PRED\u003e","video":"4381130616690784226.mp4"}
+{"uid":"17645244318107647667","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Lift the blue ball from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the blue ball from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the blue ball from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the blue ball from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the blue ball from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the blue ball from the table 2- Drop the blue ball into the center glass 3- Pick up the blue marker on the table 4- Drop the blue marker into the center glass 5- pick the yellow ball\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass Q: immediate next step? \u003cPRED\u003eA: Lift the blue ball from the table\n\u003c/PRED\u003e","video":"17893408037587794356.mp4"}
+{"uid":"9057348222789022758","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the green marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the green marker from the table 2- Drop the green marker into the right transparent glass 3- Pick up the blue ball on the table 4- Drop the blue ball into the center glass 5- Pick up the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the green marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table Q: immediate next step? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e","video":"12930867047336589265.mp4"}
+{"uid":"13200146107428741132","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the blue ball from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the blue ball 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":"92335218351150891.mp4"}
+{"uid":"15091001290129764256","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Drop the yellow ball in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass Q: immediate next step? \u003cPRED\u003eA: Drop the yellow ball in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow ball in the left side transparent glass 2- pick the yellow marker 3- drop the yellow marker in the third right transparent glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow ball in the left side transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow ball in the left side transparent glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow ball in the left side transparent glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow ball in the left side transparent glass\n\u003c/PRED\u003e","video":"10469978853799534084.mp4"}
+{"uid":"11470080521180471280","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15931734313789494469.mp4"}
+{"uid":"8202316817427951712","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please color coordinate ball and highlighter into its own cup. last 20 steps: 1- Pick up the green ball on the table 2- Drop the green ball into the right transparent glass 3- Pick the green marker on the table 4- Drop the green marker into the right transparent glass 5- Pick up the blue ball on the table 6- Drop the blue ball into the center glass 7- Pick up the blue marker on the table 8- Drop the blue marker into the center glass 9- pick the yellow ball 10- drop the yellow ball in the third right transparent glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e","video":"4189439301553122730.mp4"}
+{"uid":"6733034342242992771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6884787279125387171.mp4"}
+{"uid":"2409339052038811471","text":"\u003ctask:success:discrete:True\u003e\nPick up the blue marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e","video":"8853547512646934167.mp4"}
+{"uid":"9321509731838653299","text":"\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: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the candy on the table 3- close the drawer 4- pick up the candy 5- exit the room\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:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"5638272405972306019.mp4"}
+{"uid":"15687777271467532871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9547372571580507486.mp4"}
+{"uid":"11899191635158906324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15307588653976989507.mp4"}
+{"uid":"16526919607133477171","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 candy 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: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table 6- close the drawer 7- pick up the candy 8- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table 6- close the drawer 7- pick up the candy 8- exit the room Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e","video":"950872771937992463.mp4"}
+{"uid":"13127338307793272254","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":"663896193790181683.mp4"}
+{"uid":"13438043328175321961","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":"15488040382496807065.mp4"}
+{"uid":"11656349899356406020","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table 6- close the drawer 7- pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- place the candy on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table 6- close the drawer 7- pick up the candy Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"11413846992412379941.mp4"}
+{"uid":"2824591805762641049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the candies Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14554782652773871897.mp4"}
+{"uid":"6431963150799720709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15092390759668242709.mp4"}
+{"uid":"12144495375342799262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15657094353747771397.mp4"}
+{"uid":"9293374658119299368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange cable from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15565232714082420828.mp4"}
+{"uid":"1758644427797227732","text":"\u003ctask:success:discrete:False\u003e\nplace the candy 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 candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- close the drawer 3- pick up the candy 4- exit the room 5- place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17662821659490909738.mp4"}
+{"uid":"11923326637573411839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue 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":"7978813124776204355.mp4"}
+{"uid":"17817175060256679576","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the holder 2- place the blue marker in the holder 3- leave the room with the holder 4- place the holder on the table 5- open the wardrobe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e","video":"3354939163984629326.mp4"}
+{"uid":"11960112449837099584","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the red marker tray out\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pull the red marker tray out\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the red marker tray out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: pull the red marker tray out\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe Q: immediate next step? \u003cPRED\u003eA: pull the red marker tray out\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe Q: next 5 steps? \u003cPRED\u003eA: 1- pull the red marker tray out 2- place the red marker in the tray 3- pull the sky blue marker tray out 4- place the sky blue marker in the tray 5- push the red marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the red marker tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7676949494719466681.mp4"}
+{"uid":"18199846520893267322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11119810981898087204.mp4"}
+{"uid":"9596886211416681161","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the wardrobe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the wardrobe 2- place the holder in the wardrobe 3- pull the red marker tray out 4- place the red marker in the tray 5- pull the sky blue marker tray out\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table Q: immediate next step? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e","video":"10634944270288100278.mp4"}
+{"uid":"15787213188072896933","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the holder in the wardrobe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the holder in the wardrobe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe Q: immediate next step? \u003cPRED\u003eA: place the holder in the wardrobe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the holder in the wardrobe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the holder in the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder in the wardrobe 2- pull the red marker tray out 3- place the red marker in the tray 4- pull the sky blue marker tray out 5- place the sky blue marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder in the wardrobe\n\u003c/PRED\u003e","video":"15677409518436452920.mp4"}
+{"uid":"5609411177320468157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1551079347263192996.mp4"}
+{"uid":"8410883330680652115","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7217813690737864526.mp4"}
+{"uid":"9693083016853973073","text":"\u003ctask:success:discrete:False\u003e\nleave the room with 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: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: leave the room with the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room with the holder 2- place the holder on the table 3- open the wardrobe 4- place the holder in the wardrobe 5- pull the red marker tray out\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room with the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room with the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: leave the room with the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room with 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":"13009848025584356508.mp4"}
+{"uid":"3357453835624790439","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sky blue marker in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the sky blue marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sky blue marker in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out Q: next 5 steps? \u003cPRED\u003eA: 1- place the sky blue marker in the tray 2- push the red marker tray inside 3- push the sky blue marker tray inside 4- pull the blue marker tray out 5- place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sky blue marker 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\nplace the sky blue marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out Q: immediate next step? \u003cPRED\u003eA: place the sky blue marker in the tray\n\u003c/PRED\u003e","video":"9332710043721705773.mp4"}
+{"uid":"18258428628086698145","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the red marker in the holder 2- place the yellow marker in the holder 3- place the blue marker in the holder 4- leave the room with the holder 5- place the holder on the table 6- open the wardrobe 7- place the holder in the wardrobe 8- pull the red marker tray out 9- place the red marker in the tray 10- pull the sky blue marker tray out 11- place the sky blue marker in the tray 12- push the red marker tray inside 13- push the sky blue marker tray inside 14- pull the blue marker tray out 15- place the blue marker in the tray 16- push the blue marker tray inside 17- pull the yellow tray out 18- place the yellow marker in the tray 19- push the yellow marker tray inside 20- move the holder back Q: next 5 steps? \u003cPRED\u003eA: 1- close the wardrobe 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the red marker in the holder 2- place the yellow marker in the holder 3- place the blue marker in the holder 4- leave the room with the holder 5- place the holder on the table 6- open the wardrobe 7- place the holder in the wardrobe 8- pull the red marker tray out 9- place the red marker in the tray 10- pull the sky blue marker tray out 11- place the sky blue marker in the tray 12- push the red marker tray inside 13- push the sky blue marker tray inside 14- pull the blue marker tray out 15- place the blue marker in the tray 16- push the blue marker tray inside 17- pull the yellow tray out 18- place the yellow marker in the tray 19- push the yellow marker tray inside 20- move the holder back Q: immediate next step? \u003cPRED\u003eA: close the wardrobe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the wardrobe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the wardrobe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the wardrobe\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the wardrobe\n\u003c/PRED\u003e","video":"13162878061848284809.mp4"}
+{"uid":"1733180513760692526","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the 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:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the candy 2- exit the room 3- place the candy on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e","video":"7638640948269476534.mp4"}
+{"uid":"16765043832675609966","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask: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:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- open the drawer 3- place the candy on the table 4- close the drawer 5- pick up the candy\n\u003c/PRED\u003e","video":"16188578990732120882.mp4"}
+{"uid":"11152994356256014256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut an 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":"9611672646281531292.mp4"}
+{"uid":"1556839825456679138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4681627315273651774.mp4"}
+{"uid":"18057953109089670634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper 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":"17646557131124522910.mp4"}
+{"uid":"13734744900094702279","text":"\u003ctask:success:discrete:False\u003e\nplace the sky blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the sky blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sky blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sky blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the sky blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sky blue marker in the holder\n\u003c/PRED\u003e","video":"12106195128751815920.mp4"}
+{"uid":"6511489095907858997","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside 18- pull the yellow tray out 19- place the yellow marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the yellow marker tray inside 2- move the holder back 3- close the wardrobe 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: push the yellow marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the yellow marker tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the yellow marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the yellow marker tray inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside 18- pull the yellow tray out 19- place the yellow marker in the tray Q: immediate next step? \u003cPRED\u003eA: push the yellow marker tray inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the yellow marker tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11838428729567955230.mp4"}
+{"uid":"3954807131976381057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16822298772554678757.mp4"}
+{"uid":"8992041414297005930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"9453837144896053565.mp4"}
+{"uid":"5459509028241567833","text":"\u003ctask:success:discrete:True\u003e\nleave the room with 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: leave the room with the holder\n\u003c/PRED\u003e","video":"5835549346499910518.mp4"}
+{"uid":"2688357778646707865","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red marker in the holder 2- place the yellow marker in the holder 3- place the blue marker in the holder 4- leave the room with the holder 5- place the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the red marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the red marker in the holder\n\u003c/PRED\u003e","video":"4621754797068722349.mp4"}
+{"uid":"16999755270686381418","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note in the organizer 2- enter the room 3- open the drawer 4- place the candy on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note in the organizer\n\u003c/PRED\u003e","video":"15076305177496391816.mp4"}
+{"uid":"6814946727129922670","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":"1234215966119441820.mp4"}
+{"uid":"5406268122861598834","text":"\u003ctask:success:discrete:False\u003e\npush the red marker tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: push the red marker tray inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the red marker tray inside 2- push the sky blue marker tray inside 3- pull the blue marker tray out 4- place the blue marker in the tray 5- push the blue marker tray inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the red marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the red marker tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray Q: immediate next step? \u003cPRED\u003eA: push the red marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the red marker tray inside\n\u003c/PRED\u003e","video":"1609585976094665067.mp4"}
+{"uid":"2036181905737957023","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the blue marker tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the blue marker tray out\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the blue marker tray out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside Q: next 5 steps? \u003cPRED\u003eA: 1- pull the blue marker tray out 2- place the blue marker in the tray 3- push the blue marker tray inside 4- pull the yellow tray out 5- place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside Q: immediate next step? \u003cPRED\u003eA: pull the blue marker tray out\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pull the blue marker tray out\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the blue marker tray out\n\u003c/PRED\u003e","video":"7348623165404783631.mp4"}
+{"uid":"15467488232214002148","text":"\u003ctask:success:discrete:False\u003e\npush the sky blue marker tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the sky blue marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the sky blue marker tray inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside Q: immediate next step? \u003cPRED\u003eA: push the sky blue marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the sky blue marker tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside Q: next 5 steps? \u003cPRED\u003eA: 1- push the sky blue marker tray inside 2- pull the blue marker tray out 3- place the blue marker in the tray 4- push the blue marker tray inside 5- pull the yellow tray out\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: push the sky blue marker tray inside\n\u003c/PRED\u003e","video":"226915302681008071.mp4"}
+{"uid":"17419738145613659881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"14371771426263039708.mp4"}
+{"uid":"1169077677381333099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16703919137148953884.mp4"}
+{"uid":"16674074200014347177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pens 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":"17224718845802051475.mp4"}
+{"uid":"3718784968608308912","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the sky blue marker tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pull the sky blue marker tray out 2- place the sky blue marker in the tray 3- push the red marker tray inside 4- push the sky blue marker tray inside 5- pull the blue marker tray out\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray Q: immediate next step? \u003cPRED\u003eA: pull the sky blue marker tray out\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the sky blue marker tray out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: pull the sky blue marker tray out\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pull the sky blue marker tray out\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the sky blue marker tray out\n\u003c/PRED\u003e","video":"9478760747222627356.mp4"}
+{"uid":"17333236365010073514","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside 18- pull the yellow tray out Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the tray 2- push the yellow marker tray inside 3- move the holder back 4- close the wardrobe 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside 18- pull the yellow tray out Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6617908087364661917.mp4"}
+{"uid":"11752025001802833133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16741609024052545051.mp4"}
+{"uid":"2928179896046875345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the holder in the wardrobe\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the holder in the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7948107687864798260.mp4"}
+{"uid":"13299622237373700377","text":"\u003ctask:success:discrete:False\u003e\npick 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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","video":"15989997015021804383.mp4"}
+{"uid":"8857488972588684067","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the holder 2- leave the room with the holder 3- place the holder on the table 4- open the wardrobe 5- place the holder in the wardrobe\n\u003c/PRED\u003e","video":"5511227924754897954.mp4"}
+{"uid":"10898241162030469094","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out Q: immediate next step? \u003cPRED\u003eA: place the red marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red marker 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: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the red marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red marker 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: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out Q: next 5 steps? \u003cPRED\u003eA: 1- place the red marker in the tray 2- pull the sky blue marker tray out 3- place the sky blue marker in the tray 4- push the red marker tray inside 5- push the sky blue marker tray inside\n\u003c/PRED\u003e","video":"2026293366562627409.mp4"}
+{"uid":"2599585587231776505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange all the clips beside 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":"3979386306057236401.mp4"}
+{"uid":"253673104766497177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17231372477885224012.mp4"}
+{"uid":"14821644089114720953","text":"\u003ctask:success:discrete:True\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"7784985588058820567.mp4"}
+{"uid":"687350902647966929","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the blue marker tray inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the blue marker tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the blue marker tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray Q: immediate next step? \u003cPRED\u003eA: push the blue marker tray inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the blue marker tray inside 2- pull the yellow tray out 3- place the yellow marker in the tray 4- push the yellow marker tray inside 5- move the holder back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the blue marker tray inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: push the blue marker tray inside\n\u003c/PRED\u003e","video":"8751907637898171185.mp4"}
+{"uid":"4557091159677479826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork 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":"13446559076302364758.mp4"}
+{"uid":"283956081151388655","text":"\u003ctask:success:discrete:False\u003e\nplace the blue marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the tray 2- push the blue marker tray inside 3- pull the yellow tray out 4- place the yellow marker in the tray 5- push the yellow marker tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the tray\n\u003c/PRED\u003e","video":"1961814167928820511.mp4"}
+{"uid":"4785569027743717136","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the holder back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside 18- pull the yellow tray out 19- place the yellow marker in the tray 20- push the yellow marker tray inside Q: immediate next step? \u003cPRED\u003eA: move the holder back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the holder back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the holder 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 the holder back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside 18- pull the yellow tray out 19- place the yellow marker in the tray 20- push the yellow marker tray inside Q: next 5 steps? \u003cPRED\u003eA: 1- move the holder back 2- close the wardrobe 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move the holder back\n\u003c/PRED\u003e","video":"8429174930942825960.mp4"}
+{"uid":"570820567597007430","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pick up the candy 3- exit the room 4- place the candy on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: done using the notepad can you put it back and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- pick up the sticky note 2- place the sticky note in the organizer 3- enter the room 4- open the drawer 5- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10858285812977804616.mp4"}
+{"uid":"4030375686835897913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid 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":"15409622534804506736.mp4"}
+{"uid":"6305094805229150459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2914621660717537722.mp4"}
+{"uid":"18035015055028751604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"166504535240347962.mp4"}
+{"uid":"2081251330855931867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper clip in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9006397552696352735.mp4"}
+{"uid":"14985885862088790341","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside Q: immediate next step? \u003cPRED\u003eA: pull the yellow tray out\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the yellow tray out\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the yellow tray out\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pull the yellow tray out\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the yellow tray out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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\npull the yellow tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder 6- place the holder on the table 7- open the wardrobe 8- place the holder in the wardrobe 9- pull the red marker tray out 10- place the red marker in the tray 11- pull the sky blue marker tray out 12- place the sky blue marker in the tray 13- push the red marker tray inside 14- push the sky blue marker tray inside 15- pull the blue marker tray out 16- place the blue marker in the tray 17- push the blue marker tray inside Q: next 5 steps? \u003cPRED\u003eA: 1- pull the yellow tray out 2- place the yellow marker in the tray 3- push the yellow marker tray inside 4- move the holder back 5- close the wardrobe\n\u003c/PRED\u003e","video":"13101919456743591650.mp4"}
+{"uid":"17746133087498502076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3897299342838459383.mp4"}
+{"uid":"4111137216055928558","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8605224940469728201.mp4"}
+{"uid":"6064906932183669897","text":"\u003ctask:success:discrete:False\u003e\nplace the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder on the table 2- open the wardrobe 3- place the holder in the wardrobe 4- pull the red marker tray out 5- place the red marker in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the highlighters and expo markers from Steve's desk and return them to the supply cabinet. last 20 steps: 1- place the sky blue marker in the holder 2- place the red marker in the holder 3- place the yellow marker in the holder 4- place the blue marker in the holder 5- leave the room with the holder Q: immediate next step? \u003cPRED\u003eA: place the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2911895744161326048.mp4"}
+{"uid":"17347683837722480204","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":"17631135844855201675.mp4"}
+{"uid":"12221176862311218796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"854444940440185259.mp4"}
+{"uid":"7240809527141231110","text":"\u003ctask:success:discrete:True\u003e\nmove to the left houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left houseplant\n\u003c/PRED\u003e","video":"12123157615577490411.mp4"}
+{"uid":"9489721130241998294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2490314220202356259.mp4"}
+{"uid":"9332603346823692987","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards Q: next 5 steps? \u003cPRED\u003eA: 1- place the top indoor plant vertically to the other indoor plants 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the top indoor plant vertically to the other indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 top indoor plant vertically to the other indoor plants\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the top indoor plant vertically to the other indoor plants\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards Q: immediate next step? \u003cPRED\u003eA: place the top indoor plant vertically to the other indoor plants\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the top indoor plant vertically to the other indoor plants\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the top indoor plant vertically to the other indoor plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9009742546961836562.mp4"}
+{"uid":"8491199819832691907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17967059046806102382.mp4"}
+{"uid":"12040091895949040406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWrite f on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14077998134611103953.mp4"}
+{"uid":"15018203771359174958","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the top houseplant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the top houseplant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the top houseplant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the top houseplant 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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. Q: immediate next step? \u003cPRED\u003eA: place the top houseplant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the top houseplant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- place the top houseplant on the table 2- pick the top indoor plant 3- place the indoor plant on the table 4- move to the top houseplant 5- move the top houseplant to the right\n\u003c/PRED\u003e","video":"10723628983410493163.mp4"}
+{"uid":"17601892110603227209","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"16294973515253586316.mp4"}
+{"uid":"4688017900868821339","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the left indoor plant to the top of the other indoor plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: move the left indoor plant to the top of the other indoor plants\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the left indoor plant to the top of the other indoor plants\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the left indoor plant to the top of the other indoor plants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- move the left indoor plant to the top of the other indoor plants 2- push the top houseplant to the bottom of the table 3- grasp the top houseplant 4- pick up the indoor plant. 5- drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the left indoor plant to the top of the other indoor plants\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the left indoor plant to the top of the other indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10890763845453748069.mp4"}
+{"uid":"404195572245007072","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- drop the indoor plant on the table. 3- grab the left indoor plant. 4- pick the top indoor plant 5- place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant 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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"18370628570262546207.mp4"}
+{"uid":"3852788469163962047","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":"3568580164053418622.mp4"}
+{"uid":"4204625035837005772","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrelease the indoor plant 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":"11451966867827105725.mp4"}
+{"uid":"10098690260452717208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the water 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":"14943761590124442941.mp4"}
+{"uid":"725991410602868211","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table. 2- move to the top houseplant 3- move the top houseplant to the right 4- slightly push the top indoor plant backwards 5- move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant 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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table.\n\u003c/PRED\u003e","video":"16096146073095341575.mp4"}
+{"uid":"910420776925720304","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants Q: immediate next step? \u003cPRED\u003eA: slightly move the indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: slightly move the indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move the indoor plant downwards. 2- grasp the top houseplant 3- pick up the indoor plant. 4- drop the indoor plant on the table. 5- grab the left indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move the indoor plant downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move the indoor plant downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move the indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move the indoor plant downwards.\n\u003c/PRED\u003e","video":"13695935603515917826.mp4"}
+{"uid":"7995351818628064646","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":"7266346387335532774.mp4"}
+{"uid":"17618930877010659287","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- move to the top houseplant 3- move the top houseplant to the right 4- slightly push the top indoor plant backwards 5- move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"1698792690376444997.mp4"}
+{"uid":"887727954194344182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5349586413317394157.mp4"}
+{"uid":"6645762479920546397","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the top right of the indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the top right of the indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 indoor plant on the top right of the indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 indoor plant on the top right of the indoor plant.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the top right of the indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the top right of the indoor plant. 2- push the top houseplant to the bottom of the table 3- grasp the top houseplant 4- pick up the indoor plant. 5- drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the top right of the indoor plant.\n\u003c/PRED\u003e","video":"3320256216218869338.mp4"}
+{"uid":"16024120094050420012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6643094858354935839.mp4"}
+{"uid":"4375737653643247807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4948451381289166647.mp4"}
+{"uid":"17311731278161625096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12049611569006159949.mp4"}
+{"uid":"4068181266952257146","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- pick the houseplant 2- move to the top houseplant 3- move the top houseplant to the right 4- slightly push the top indoor plant backwards 5- move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick the houseplant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: pick the houseplant\n\u003c/PRED\u003e","video":"2111233283916943015.mp4"}
+{"uid":"1093633943864739671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10702176265673650916.mp4"}
+{"uid":"12692396827113595527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8734331487304784184.mp4"}
+{"uid":"11015403599856117890","text":"\u003ctask:success:discrete:True\u003e\nmove the top houseplant 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: move the top houseplant to the right\n\u003c/PRED\u003e","video":"15026377156827592197.mp4"}
+{"uid":"4705487819015803872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the small object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18234668447895177545.mp4"}
+{"uid":"5919573915788794015","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":"5074074569549533832.mp4"}
+{"uid":"7719168680191418449","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the top houseplant to the bottom right houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- move the top houseplant to the bottom right houseplant 2- move the left houseplant above the houseplants 3- touch the top houseplant 4- push the top houseplant to the bottom of the table 5- grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the top houseplant to the bottom right houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the top houseplant to the bottom right houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the top houseplant to the bottom right houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: immediate next step? \u003cPRED\u003eA: move the top houseplant to the bottom right houseplant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the top houseplant to the bottom right houseplant\n\u003c/PRED\u003e","video":"7999101529166098494.mp4"}
+{"uid":"3132226668570752345","text":"\u003ctask:success:discrete:True\u003e\ngrasp the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e","video":"18235513385060925102.mp4"}
+{"uid":"15893863428903746368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tissue on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7353331406796857118.mp4"}
+{"uid":"957373413868654105","text":"\u003ctask:success:discrete:True\u003e\nmove the left indoor plant to the top of the other indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left indoor plant to the top of the other indoor plants\n\u003c/PRED\u003e","video":"7793260814197375212.mp4"}
+{"uid":"16697375813229749988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16365509851151705146.mp4"}
+{"uid":"15058734680469397620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11821531024443496125.mp4"}
+{"uid":"13931983038406242509","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the left indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. Q: immediate next step? \u003cPRED\u003eA: grab the left indoor plant.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the left indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- grab the left indoor plant. 2- pick the top indoor plant 3- place the indoor plant on the table 4- move to the top houseplant 5- move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the left indoor plant.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: grab the left indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11406012647858247238.mp4"}
+{"uid":"14671802450862664624","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the packet on the table 8- put the packet on the table 9- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the packet on the table 8- put the packet on the table 9- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"8164613393815824962.mp4"}
+{"uid":"727043893886522447","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the top indoor plant vertically to the other indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 top indoor plant vertically to the other indoor plants\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards 19- place the top indoor plant vertically to the other indoor plants Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards 19- place the top indoor plant vertically to the other indoor plants Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15379181725076690433.mp4"}
+{"uid":"8237397259955662003","text":"\u003ctask:success:discrete:True\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"228202245832473963.mp4"}
+{"uid":"8766353587627317011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18214285632952376927.mp4"}
+{"uid":"17388325313145397089","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"13639838347559586670.mp4"}
+{"uid":"14509018537785999230","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":"303515176026944301.mp4"}
+{"uid":"2352592932301115755","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants Q: immediate next step? \u003cPRED\u003eA: touch the top indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: touch the top indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants Q: next 5 steps? \u003cPRED\u003eA: 1- touch the top indoor plant 2- push the top houseplant to the bottom of the table 3- grasp the top houseplant 4- pick up the indoor plant. 5- drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the top indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\ntouch the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: touch the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the top indoor plant\n\u003c/PRED\u003e","video":"17467294252633076298.mp4"}
+{"uid":"9105474995931328036","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":"8064151916498347955.mp4"}
+{"uid":"15924321993588753488","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the top houseplant 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:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the top houseplant 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 the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- move the top houseplant to the right 2- slightly push the top indoor plant backwards 3- move the top indoor plant downwards. 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant Q: immediate next step? \u003cPRED\u003eA: move the top houseplant to the right\n\u003c/PRED\u003e","video":"16411689699048678815.mp4"}
+{"uid":"9183496389119140492","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"10163890017374628498.mp4"}
+{"uid":"8730547772478914670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the left houseplant above the houseplants\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the left houseplant above the houseplants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9908677634349070958.mp4"}
+{"uid":"5357846780976386080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16366966254173255080.mp4"}
+{"uid":"8800375201999674732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10351660505277203752.mp4"}
+{"uid":"16780230988936053438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1618163643341591270.mp4"}
+{"uid":"3386807402784219277","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the indoor plant 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":"14359588576962085695.mp4"}
+{"uid":"14157718191193878226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7085569786525223083.mp4"}
+{"uid":"13428735506576631789","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move the houseplant to the bottom of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly move the houseplant to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly move the houseplant to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly move the houseplant to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5898901496830432053.mp4"}
+{"uid":"4254388893848224296","text":"\u003ctask:success:discrete:False\u003e\ngrab the top indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the top indoor plant.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the top indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- grab the top indoor plant. 2- pick up the indoor plant. 3- drop the indoor plant on the table. 4- grab the left indoor plant. 5- pick the top indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: grab the top indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the top indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: grab the top indoor plant.\n\u003c/PRED\u003e","video":"3990655916571362340.mp4"}
+{"uid":"14980070149513198052","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the top houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. Q: immediate next step? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the top houseplant 2- pick the top indoor plant 3- place the indoor plant on the table 4- move to the top houseplant 5- move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8850499450087869141.mp4"}
+{"uid":"11707997692684308767","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- push the top houseplant to the bottom of the table 2- grasp the top houseplant 3- pick up the indoor plant. 4- drop the indoor plant on the table. 5- grab the left indoor plant.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the top houseplant to the bottom of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant Q: immediate next step? \u003cPRED\u003eA: push the top houseplant to the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the top houseplant to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the top houseplant to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the top houseplant to the bottom of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: push the top houseplant to the bottom of the table\n\u003c/PRED\u003e","video":"5260818648070075995.mp4"}
+{"uid":"1067819791133722494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue chocolate into the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9297180698974472164.mp4"}
+{"uid":"937490829599849693","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"533391024058627154.mp4"}
+{"uid":"9917067350408534827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1367877542589910840.mp4"}
+{"uid":"8675181914266215374","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table 2- pick up the left indoor plant. 3- place the indoor plant on the table. 4- move the top houseplant to the bottom right houseplant 5- go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5931055345670050657.mp4"}
+{"uid":"17582053505738335825","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- done\n\u003c/PRED\u003e","video":"11944324550482844392.mp4"}
+{"uid":"13798367265319270017","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the top indoor plant backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant Q: immediate next step? \u003cPRED\u003eA: push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the top indoor plant backwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- push the top indoor plant backwards 2- pick up the indoor plant. 3- drop the indoor plant on the table. 4- grab the left indoor plant. 5- pick the top indoor plant\n\u003c/PRED\u003e","video":"15757278384142306213.mp4"}
+{"uid":"1008948151673839780","text":"\u003ctask:success:discrete:False\u003e\npick the top left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 top left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the top left indoor plant 2- drop the indoor plant on the table. 3- grab the left indoor plant. 4- pick the top indoor plant 5- place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: pick the top left indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick the top left indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the top left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the top left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13020593441333418720.mp4"}
+{"uid":"905722939113344132","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the top indoor plant to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- move the top indoor plant to the right 2- slightly push the top indoor plant backwards 3- move the top indoor plant downwards. 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the top indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the top indoor plant 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the top indoor plant to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant to the right\n\u003c/PRED\u003e","video":"6016572212780292392.mp4"}
+{"uid":"4847642204145720763","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: immediate next step? \u003cPRED\u003eA: pick up the left indoor plant.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the left indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the left indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the left indoor plant. 2- move the top houseplant to the bottom right houseplant 3- go closer to the left indoor plant. 4- move the left houseplant above the houseplants 5- touch the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the left indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick up the left indoor plant.\n\u003c/PRED\u003e","video":"7317091190012868510.mp4"}
+{"uid":"10000351906825187528","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the left indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the left indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move towards the left indoor plant.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: immediate next step? \u003cPRED\u003eA: move towards the left indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the left indoor plant. 2- move the top houseplant to the right 3- slightly push the top indoor plant backwards 4- move the top indoor plant downwards. 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 left indoor plant.\n\u003c/PRED\u003e","video":"8822237099203664698.mp4"}
+{"uid":"14390722772326013915","text":"\u003ctask:success:discrete:True\u003e\ntouch the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the top houseplant\n\u003c/PRED\u003e","video":"12121051765632008295.mp4"}
+{"uid":"1152228374670061564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pink candy into the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17538490991988460774.mp4"}
+{"uid":"11944020755737541774","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: slightly push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right Q: immediate next step? \u003cPRED\u003eA: slightly push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the top indoor plant backwards 2- move the top indoor plant downwards. 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly push the top indoor plant backwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly push the top indoor plant backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8519913315752374095.mp4"}
+{"uid":"11539833765011576843","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"14598892893179523102.mp4"}
+{"uid":"7633413965232345421","text":"\u003ctask:success:discrete:True\u003e\ngo closer to the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left indoor plant.\n\u003c/PRED\u003e","video":"7870899951443367351.mp4"}
+{"uid":"1820983323586582885","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the top right indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the top right indoor plant downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7898750110813806168.mp4"}
+{"uid":"9095805606146977448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the brown tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2195082191697166444.mp4"}
+{"uid":"13412574661727218417","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":"11231054421263358746.mp4"}
+{"uid":"3753110323192705662","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the left indoor plant to the right.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the left indoor plant 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":"2329644805955343528.mp4"}
+{"uid":"1868248779520451874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in a organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5496799367571244047.mp4"}
+{"uid":"8757945271239779408","text":"\u003ctask:success:discrete:True\u003e\ngrasp the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e","video":"1526987404634664240.mp4"}
+{"uid":"15087803812012692977","text":"\u003ctask:success:discrete:True\u003e\ngrab the top indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the top indoor plant.\n\u003c/PRED\u003e","video":"5187012645933365186.mp4"}
+{"uid":"11446964845699318238","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: immediate next step? \u003cPRED\u003eA: move the top right indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the top right indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- move the top right indoor plant downwards. 2- move the left houseplant above the houseplants 3- touch the top houseplant 4- push the top houseplant to the bottom of the table 5- grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the top right indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the top right indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the top right indoor plant downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the top right indoor plant downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3708990689834783782.mp4"}
+{"uid":"4683353744370010832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass upright on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15238074887409991643.mp4"}
+{"uid":"8621588418387129253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange ball 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":"3625826263064403709.mp4"}
+{"uid":"123544214901095702","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15847837124837637404.mp4"}
+{"uid":"15936041366016210780","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the left indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13764483931258041221.mp4"}
+{"uid":"8577285591914609291","text":"\u003ctask:success:discrete:False\u003e\nmove the houseplant in a vertical line with other houseplants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards Q: immediate next step? \u003cPRED\u003eA: move the houseplant in a vertical line with other houseplants\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the houseplant in a vertical line with other houseplants\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the houseplant in a vertical line with other houseplants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the houseplant in a vertical line with other houseplants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards Q: next 5 steps? \u003cPRED\u003eA: 1- move the houseplant in a vertical line with other houseplants 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the houseplant in a vertical line with other houseplants\n\u003c/PRED\u003e","video":"12234361333491951501.mp4"}
+{"uid":"11050615024256623850","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: touch the top houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants Q: next 5 steps? \u003cPRED\u003eA: 1- touch the top houseplant 2- push the top houseplant to the bottom of the table 3- grasp the top houseplant 4- pick up the indoor plant. 5- drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the top houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants Q: immediate next step? \u003cPRED\u003eA: touch the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the top houseplant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the top houseplant\n\u003c/PRED\u003e","video":"886602530730574223.mp4"}
+{"uid":"1921169454041914978","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"9587751943658430064.mp4"}
+{"uid":"1204619743840232517","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":"210983774670370652.mp4"}
+{"uid":"6634027741788610306","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: pick the houseplant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick the houseplant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the houseplant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- pick the houseplant 2- place the indoor plant on the table. 3- move the top houseplant to the bottom right houseplant 4- go closer to the left indoor plant. 5- move the left houseplant above the houseplants\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the houseplant\n\u003c/PRED\u003e","video":"72165807891630816.mp4"}
+{"uid":"14861397281444562587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4914434312033925422.mp4"}
+{"uid":"12122417345761048174","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the left houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the left houseplant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the left houseplant 2- place the indoor plant on the table. 3- move the top houseplant to the bottom right houseplant 4- go closer to the left indoor plant. 5- move the left houseplant above the houseplants\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the left houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: immediate next step? \u003cPRED\u003eA: grasp the left houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the left houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: grasp the left houseplant\n\u003c/PRED\u003e","video":"17163009063683537249.mp4"}
+{"uid":"16448837519105594984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7581370742748923773.mp4"}
+{"uid":"4653480431404388688","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the indoor plant on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: immediate next step? \u003cPRED\u003eA: drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the indoor plant 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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- drop the indoor plant on the table. 2- pick the top indoor plant 3- place the indoor plant on the table 4- move to the top houseplant 5- move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the indoor plant on the table.\n\u003c/PRED\u003e","video":"14785026403112496654.mp4"}
+{"uid":"17804044637629390794","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"10053916201670176144.mp4"}
+{"uid":"17681038146410897178","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the top houseplant to the bottom right houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the top houseplant to the bottom right houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1373152191334120644.mp4"}
+{"uid":"15377970428156297869","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- move the top houseplant to the bottom right houseplant 3- go closer to the left indoor plant. 4- move the left houseplant above the houseplants 5- touch the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant 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":"15602777061273426696.mp4"}
+{"uid":"4572599275213911760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet near the queue of paackets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12543720033065265779.mp4"}
+{"uid":"2412825606791441190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the scoop into the pistachio 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":"8614916012131616575.mp4"}
+{"uid":"18178124480668507021","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: move the left houseplant above the houseplants\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the left houseplant above the houseplants\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the left houseplant above the houseplants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 left houseplant above the houseplants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- move the left houseplant above the houseplants 2- touch the top houseplant 3- push the top houseplant to the bottom of the table 4- grasp the top houseplant 5- pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the left houseplant above the houseplants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the left houseplant above the houseplants\n\u003c/PRED\u003e","video":"16587850716163868491.mp4"}
+{"uid":"236782065842433827","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right Q: immediate next step? \u003cPRED\u003eA: slightly move the houseplant to the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move the houseplant to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move the houseplant to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: slightly move the houseplant to the bottom of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move the houseplant to the bottom of the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move the houseplant to the bottom of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move the houseplant to the bottom of the table\n\u003c/PRED\u003e","video":"6561618023897667915.mp4"}
+{"uid":"329906318200004441","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the packet on the table 8- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- put the packet on the table 2- put the packet on the table 3- put the packet on the table 4- put the packet on the table 5- put the packet on the table 6- put the packet on the table 7- put the packet on the table 8- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e","video":"13195303963772732331.mp4"}
+{"uid":"18259092690955382835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green jalapeno chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9740940305682915122.mp4"}
+{"uid":"12502122195308079763","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the left indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12917722307748948596.mp4"}
+{"uid":"12985475594094373782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the duster from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4424203231851167683.mp4"}
+{"uid":"8290521153968623832","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the left indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the left indoor plant. 2- move the left houseplant above the houseplants 3- touch the top houseplant 4- push the top houseplant to the bottom of the table 5- grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: immediate next step? \u003cPRED\u003eA: go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the left indoor plant.\n\u003c/PRED\u003e","video":"12169819782310084834.mp4"}
+{"uid":"15597964298574951968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the counter backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3012911686067713243.mp4"}
+{"uid":"10522375569101820947","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the indoor plant 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":"12207063383830588902.mp4"}
+{"uid":"9746828587242507203","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the indoor plant. 2- move to the top houseplant 3- move the top houseplant to the right 4- slightly push the top indoor plant backwards 5- move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5518107345931294104.mp4"}
+{"uid":"13848999914480361916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white packet in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16575161766584276962.mp4"}
+{"uid":"2818433147251217106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGet it to the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1469992730600130490.mp4"}
+{"uid":"15660000258447199922","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 indoor plant 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: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table. 2- move the top houseplant to the bottom right houseplant 3- go closer to the left indoor plant. 4- move the left houseplant above the houseplants 5- touch the top houseplant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table.\n\u003c/PRED\u003e","video":"16373117516788615176.mp4"}
+{"uid":"14727047236056208719","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- pick the top houseplant 2- grab the left indoor plant. 3- pick the top indoor plant 4- place the indoor plant on the table 5- move to the top houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the top houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick the top houseplant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: immediate next step? \u003cPRED\u003eA: pick the top houseplant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the top houseplant\n\u003c/PRED\u003e","video":"18087413811647217284.mp4"}
+{"uid":"1401785272357352751","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":"14837831156748017415.mp4"}
+{"uid":"3073436604066631908","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move towards the middle indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the middle indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the middle indoor plant.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the middle indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the middle indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 middle indoor plant.\n\u003c/PRED\u003e","video":"5388380028284201645.mp4"}
+{"uid":"10333043562230273883","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"8610107813016476718.mp4"}
+{"uid":"12708376996112036975","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the top indoor plant to the top of the right indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 top indoor plant to the top of the right indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant to the top of the right indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the top indoor plant to the top of the right indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant to the top of the right indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- move the top indoor plant to the top of the right indoor plant 2- move the left houseplant above the houseplants 3- touch the top houseplant 4- push the top houseplant to the bottom of the table 5- grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the top indoor plant to the top of the right indoor plant\n\u003c/PRED\u003e","video":"13597961432209047121.mp4"}
+{"uid":"1422919400318422638","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the indoor plant on the top right of the indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the indoor plant on the top right of the indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6210918112979574868.mp4"}
+{"uid":"15299482445082416800","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: grasp the left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the left indoor plant 2- touch the top houseplant 3- push the top houseplant to the bottom of the table 4- grasp the top houseplant 5- pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant Q: immediate next step? \u003cPRED\u003eA: grasp the left indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the left indoor plant\n\u003c/PRED\u003e","video":"2743572028192988344.mp4"}
+{"uid":"1758990790050550401","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: lift the top indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the top indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- lift the top indoor plant on the table 2- grab the left indoor plant. 3- pick the top indoor plant 4- place the indoor plant on the table 5- move to the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the top indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: immediate next step? \u003cPRED\u003eA: lift the top indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the top indoor plant 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: lift the top indoor plant on the table\n\u003c/PRED\u003e","video":"10130858837536513640.mp4"}
+{"uid":"13059134107412958677","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4622405713436044408.mp4"}
+{"uid":"6639077823021554585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the wipes in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17012894663203414513.mp4"}
+{"uid":"8033502154148601073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white 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":"11035678849146804605.mp4"}
+{"uid":"1611794320010797663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3482319228182516739.mp4"}
+{"uid":"6877012676596693320","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards 19- move the houseplant in a vertical line with other houseplants Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the houseplant in a vertical line with other houseplants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the houseplant in a vertical line with other houseplants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards 19- move the houseplant in a vertical line with other houseplants Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17867483010851472390.mp4"}
+{"uid":"18277438401876080128","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the top indoor plant to the top of the right indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the top indoor plant to the top of the right indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17104923088273202603.mp4"}
+{"uid":"9670025502430664132","text":"\u003ctask:success:discrete:True\u003e\npush the top houseplant to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the top houseplant to the bottom of the table\n\u003c/PRED\u003e","video":"9369316003131457887.mp4"}
+{"uid":"10544360134111325640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4535553819550682939.mp4"}
+{"uid":"16272445684887222368","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the middle houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the middle houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the middle houseplant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the middle houseplant 2- pick up the left indoor plant. 3- place the indoor plant on the table. 4- move the top houseplant to the bottom right houseplant 5- go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the middle houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the middle houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move to the middle houseplant\n\u003c/PRED\u003e","video":"6520894375126856005.mp4"}
+{"uid":"2612065243961018861","text":"\u003ctask:success:discrete:True\u003e\npick the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 top houseplant\n\u003c/PRED\u003e","video":"11926164480432478299.mp4"}
+{"uid":"6810781535626060469","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the houseplant on the table 2- move to the top houseplant 3- move the top houseplant to the right 4- slightly push the top indoor plant backwards 5- move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the houseplant 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: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant Q: immediate next step? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the houseplant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5788697352569796651.mp4"}
+{"uid":"15610115368708490780","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the left indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the left indoor plant. 2- place the indoor plant on the table. 3- move the top houseplant to the bottom right houseplant 4- go closer to the left indoor plant. 5- move the left houseplant above the houseplants\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: immediate next step? \u003cPRED\u003eA: go closer to the left indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13915797478078251737.mp4"}
+{"uid":"11814435305209018618","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the top houseplant 2- pick up the indoor plant. 3- drop the indoor plant on the table. 4- grab the left indoor plant. 5- pick the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the top houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: grasp the top houseplant\n\u003c/PRED\u003e","video":"6758358310852449990.mp4"}
+{"uid":"18351881474476847445","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":"11663892258863995393.mp4"}
+{"uid":"16383086624008854301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12053171719889279741.mp4"}
+{"uid":"8570696364662798402","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":"16580470506063788741.mp4"}
+{"uid":"16462460537035819329","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the top indoor plant backwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18385554184869166489.mp4"}
+{"uid":"14403148096198292878","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the left indoor plant.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16231416079089821924.mp4"}
+{"uid":"7000972340023721932","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":"8670444662548192636.mp4"}
+{"uid":"932542426739241495","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the top indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. Q: immediate next step? \u003cPRED\u003eA: touch the top indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: touch the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the top indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the top indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- touch the top indoor plant 2- pick the top indoor plant 3- place the indoor plant on the table 4- move to the top houseplant 5- move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16950167029204111860.mp4"}
+{"uid":"6045880468590517257","text":"\u003ctask:success:discrete:True\u003e\ngo closer to the left indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left indoor plant.\n\u003c/PRED\u003e","video":"18442530871786376960.mp4"}
+{"uid":"15699477505544650951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the left chair backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9452348497455786274.mp4"}
+{"uid":"389008709376501349","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: move to the top houseplant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the top houseplant 2- move the top houseplant to the right 3- slightly push the top indoor plant backwards 4- move the top indoor plant downwards. 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the top houseplant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move to the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the top houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 top houseplant\n\u003c/PRED\u003e","video":"1939895549514729836.mp4"}
+{"uid":"14024490099768737663","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":"10368174401319683695.mp4"}
+{"uid":"3051556520436582337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8510495129699155198.mp4"}
+{"uid":"14042897733871909081","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the top houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the top houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18137580596630938544.mp4"}
+{"uid":"18000624178625717143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1162167635402622967.mp4"}
+{"uid":"1919712668798632843","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: immediate next step? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the indoor plant. 2- grab the left indoor plant. 3- pick the top indoor plant 4- place the indoor plant on the table 5- move to the top houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick up the indoor plant.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11364681397536760549.mp4"}
+{"uid":"6167717992657236372","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the top indoor plant downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards Q: next 5 steps? \u003cPRED\u003eA: 1- move the top indoor plant downwards. 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the top indoor plant downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the top indoor plant downwards.\n\u003c/PRED\u003e","video":"14270098069399848799.mp4"}
+{"uid":"17848151771453847010","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the houseplant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the houseplant 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: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- place the houseplant on the table 2- move the top houseplant to the bottom right houseplant 3- go closer to the left indoor plant. 4- move the left houseplant above the houseplants 5- touch the top houseplant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the houseplant on the table\n\u003c/PRED\u003e","video":"5047203459026099047.mp4"}
+{"uid":"8304025638692122857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11847678370377570675.mp4"}
+{"uid":"5960554154691773879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black holder 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":"6006321002560000539.mp4"}
+{"uid":"6993020168953635697","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: immediate next step? \u003cPRED\u003eA: pick the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 left indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick the left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- pick the left indoor plant 2- place the indoor plant on the table. 3- move the top houseplant to the bottom right houseplant 4- go closer to the left indoor plant. 5- move the left houseplant above the houseplants\n\u003c/PRED\u003e","video":"7851353708843908280.mp4"}
+{"uid":"4619646162153930722","text":"\u003ctask:success:discrete:True\u003e\nplace the top houseplant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the top houseplant on the table\n\u003c/PRED\u003e","video":"4701056594768408184.mp4"}
+{"uid":"13461541332407604301","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. Q: immediate next step? \u003cPRED\u003eA: grasp the top indoor plants\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: grasp the top indoor plants\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the top indoor plants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the top indoor plants 2- pick the top indoor plant 3- place the indoor plant on the table 4- move to the top houseplant 5- move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the top indoor plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the top indoor plants\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the top indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2611888645632781807.mp4"}
+{"uid":"8071813779764648727","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. Q: immediate next step? \u003cPRED\u003eA: pick the top indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- pick the top indoor plant 2- place the indoor plant on the table 3- move to the top houseplant 4- move the top houseplant to the right 5- slightly push the top indoor plant backwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: pick the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the top indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the top indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4525124478063360213.mp4"}
+{"uid":"6118321652450833254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  blue 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":"3036168862207653282.mp4"}
+{"uid":"12086188933130739749","text":"\u003ctask:success:discrete:True\u003e\npick the top left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 top left indoor plant\n\u003c/PRED\u003e","video":"12653269193102925022.mp4"}
+{"uid":"5526247728502300243","text":"\u003ctask:success:discrete:True\u003e\npick the houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 houseplant\n\u003c/PRED\u003e","video":"6784085452505707603.mp4"}
+{"uid":"14101554887176535563","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the middle houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the middle houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9530740965485754854.mp4"}
+{"uid":"4675476019166357452","text":"\u003ctask:success:discrete:True\u003e\nlift the top indoor plant 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: lift the top indoor plant on the table\n\u003c/PRED\u003e","video":"3934828342628163554.mp4"}
+{"uid":"10536706586231455260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1749588520472953852.mp4"}
+{"uid":"17217500601362402214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the indoor plant 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: release the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: release the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. Q: next 5 steps? \u003cPRED\u003eA: 1- release the indoor plant on the table 2- pick the top indoor plant 3- place the indoor plant on the table 4- move to the top houseplant 5- move the top houseplant to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. Q: immediate next step? \u003cPRED\u003eA: release the indoor plant on the table\n\u003c/PRED\u003e","video":"17789215171946879009.mp4"}
+{"uid":"11832590366991707562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8619583897806856577.mp4"}
+{"uid":"3069968356266088400","text":"\u003ctask:success:discrete:True\u003e\ngrasp the left houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the left houseplant\n\u003c/PRED\u003e","video":"10565923990206797660.mp4"}
+{"uid":"8676547203676894622","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":"6583898581694125056.mp4"}
+{"uid":"11597915709835091913","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards 19- move the top indoor plant downwards. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the top indoor plant downwards.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the top indoor plant downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table 16- move to the top houseplant 17- move the top houseplant to the right 18- slightly push the top indoor plant backwards 19- move the top indoor plant downwards. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8209347712461564634.mp4"}
+{"uid":"9997987834593361587","text":"\u003ctask:success:discrete:True\u003e\nslightly move the indoor plant downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move the indoor plant downwards.\n\u003c/PRED\u003e","video":"9927286840347391244.mp4"}
+{"uid":"4267421248735700431","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant Q: immediate next step? \u003cPRED\u003eA: move to the left houseplant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left houseplant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left houseplant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left houseplant 2- move the left houseplant above the houseplants 3- touch the top houseplant 4- push the top houseplant to the bottom of the table 5- grasp the top houseplant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the left houseplant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move to the left houseplant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the left houseplant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2279593577395544388.mp4"}
+{"uid":"2777060579280088443","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the glass forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13601021731022306948.mp4"}
+{"uid":"11971593029469247242","text":"\u003ctask:success:discrete:False\u003e\nmove the left indoor plant to the right. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the left indoor plant to the right.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the left indoor plant to the right. 2- slightly push the top indoor plant backwards 3- move the top indoor plant downwards. 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. last 20 steps: 1- move towards the middle indoor plant. 2- go closer to the left indoor plant. 3- pick up the left indoor plant. 4- place the indoor plant on the table. 5- move the top houseplant to the bottom right houseplant 6- go closer to the left indoor plant. 7- move the left houseplant above the houseplants 8- touch the top houseplant 9- push the top houseplant to the bottom of the table 10- grasp the top houseplant 11- pick up the indoor plant. 12- drop the indoor plant on the table. 13- grab the left indoor plant. 14- pick the top indoor plant 15- place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: move the left indoor plant to the right.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the left indoor plant 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:planning:freeform\u003e\ncurrent goal is: make a vertical lines with the plants. Q: immediate next step? \u003cPRED\u003eA: move the left indoor plant to the right.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the left indoor plant to the right.\n\u003c/PRED\u003e","video":"1566977478156971760.mp4"}
+{"uid":"18353244247795926318","text":"\u003ctask:success:discrete:True\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e","video":"4583353561141796263.mp4"}
+{"uid":"5390669207103019483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18016984924457217205.mp4"}
+{"uid":"11417011803835288749","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":"2647267574798979880.mp4"}
+{"uid":"17965065868988787953","text":"\u003ctask:success:discrete:True\u003e\nmove towards the middle indoor plant. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 middle indoor plant.\n\u003c/PRED\u003e","video":"17913420783153011792.mp4"}
+{"uid":"13097958064341707474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange object close to the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7270439168701526408.mp4"}
+{"uid":"17351147060250664865","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":"5433804190553109174.mp4"}
+{"uid":"18356239828313479470","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on a glass 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 on a glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 on a glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 on a glass jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand\n\u003c/PRED\u003e","video":"901162759638715856.mp4"}
+{"uid":"11414562864955725761","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the 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: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the 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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: Place the 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the jar 2- put the blue pen in a pen stand 3- put the white packet in the jar 4- put the blue packet in the jar 5- done\n\u003c/PRED\u003e","video":"7744688568309266009.mp4"}
+{"uid":"4408068106846020306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15813211449034605102.mp4"}
+{"uid":"13210529453184122508","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- done\n\u003c/PRED\u003e","video":"6724736382007655386.mp4"}
+{"uid":"15996861283081270052","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":"16998186937767302061.mp4"}
+{"uid":"15085009710194571435","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 white packet in a glass 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- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in a glass jar 2- put the orange pen in the pen stand 3- put the black pen in a pen stand 4- put blue pen in the pen stand 5- 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 a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in a glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in a glass jar\n\u003c/PRED\u003e","video":"15842048116043994731.mp4"}
+{"uid":"2075535568309051652","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange pen in a 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: drop the orange pen in a 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- put the white packet in the jar 2- put the white packet in a glass jar Q: immediate next step? \u003cPRED\u003eA: drop the orange pen in a 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: drop the orange pen in a pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange pen in a 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- put the white packet in the jar 2- put the white packet in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange pen in a pen stand 2- put the black pen in a pen stand 3- put blue pen in the pen stand 4- put the white packet in the jar 5- put the blue pen in a pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange pen in a pen stand\n\u003c/PRED\u003e","video":"12319952240317918207.mp4"}
+{"uid":"11791888836634497180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18101089462701603942.mp4"}
+{"uid":"2765924799180233405","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in a 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 a pen stand\n\u003c/PRED\u003e","video":"4261543427603306670.mp4"}
+{"uid":"7757627508749374475","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: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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- done\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: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":"16606518026448031668.mp4"}
+{"uid":"5373822412842509707","text":"\u003ctask:success:discrete:True\u003e\nPlace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e","video":"9006569949514008642.mp4"}
+{"uid":"10881140086038530129","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7160707646713388534.mp4"}
+{"uid":"6115285590479056572","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the tray to left side on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Push the tray to left side on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the tray to left side on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tray to left side 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: Push the tray to left side on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: Push the tray to left side on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Push the tray to left side on the table\n\u003c/PRED\u003e","video":"14294405905674243129.mp4"}
+{"uid":"6648583609490419441","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen stand\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","video":"9952973557284524598.mp4"}
+{"uid":"9451767760980478164","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in a glass jar\n\u003c/PRED\u003e","video":"15198030001958686400.mp4"}
+{"uid":"18200619389855873618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10180649696763323435.mp4"}
+{"uid":"11882763122921800589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the plastic forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 plastic lid in the right of the transparent tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16922203985060677678.mp4"}
+{"uid":"1238112020883080426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana from the table on the large baby pink plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11296755604769880221.mp4"}
+{"uid":"5327306256339072990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a nut in right coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11073528601705463404.mp4"}
+{"uid":"10216427910845764664","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hint bottle on the table 2- place hint bottle on the table 3- put water bottle on the table 4- place hint bottle on the table 5- place hint bottle on the table\n\u003c/PRED\u003e","video":"8407572663837122863.mp4"}
+{"uid":"9250602979793523556","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4106259508407262291.mp4"}
+{"uid":"10068642756434189010","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table 7- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table 7- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"818887246656930658.mp4"}
+{"uid":"10799422892500973240","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hint bottle on the table 2- place hint bottle on the table 3- place hint bottle on the table 4- put water bottle on the table 5- place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e","video":"6423217603134700934.mp4"}
+{"uid":"16023879045630673934","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":"2249902218720208573.mp4"}
+{"uid":"11732299058429103316","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the stand straight\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the stand straight\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the stand straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- keep the stand straight 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: keep the stand straight\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: keep the stand straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the stand straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15202892456828682066.mp4"}
+{"uid":"8279553749690469569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"3250260627377817858.mp4"}
+{"uid":"4084396698441602432","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":"1167379331183876206.mp4"}
+{"uid":"14862473588752947742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4076656773653043167.mp4"}
+{"uid":"3582970936360250256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoon in left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14663187122605867806.mp4"}
+{"uid":"13354317205168269710","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet on a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet on a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10648406406636165104.mp4"}
+{"uid":"10385956000439463239","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":"14867054668902955185.mp4"}
+{"uid":"1429217280566909502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy  in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8553515917928224207.mp4"}
+{"uid":"15700470860736694989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"3946799318540012317.mp4"}
+{"uid":"6597863647802483637","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e","video":"12019752226922723770.mp4"}
+{"uid":"3855882545743803193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18441626182151831152.mp4"}
+{"uid":"3008732503592491476","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hint bottle on the table 2- place hint bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the hint 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 hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e","video":"12098463859654543083.mp4"}
+{"uid":"5735877845271937942","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13192549831156989074.mp4"}
+{"uid":"1084616225082581502","text":"\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\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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar 9- put the blue packet in the jar 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:past_description:freeform\u003e\nQ: what just happened? \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: 1- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar 9- put the blue packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11650014671482798550.mp4"}
+{"uid":"2711751612274200404","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in a glass 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand Q: immediate next step? \u003cPRED\u003eA: put the white packet in a glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in a glass 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 a glass 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in a glass jar 2- put the blue packet in the jar 3- done\n\u003c/PRED\u003e","video":"516173744449225357.mp4"}
+{"uid":"11709584862493129404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12674854613865969039.mp4"}
+{"uid":"10234186845134224113","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange pen in a pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange pen in a 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":"12180501708428778130.mp4"}
+{"uid":"2933446353836618447","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput water 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:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put water bottle on the table 2- place hint bottle on the table 3- place hint bottle on the table 4- put water bottle on the table 5- place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e","video":"1159223578188158166.mp4"}
+{"uid":"17654274715743165455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18330917401623688696.mp4"}
+{"uid":"9628297119147416250","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put water bottle on the table 2- place hint bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput water 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:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput water 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e","video":"336179350073506557.mp4"}
+{"uid":"6549268774687066362","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: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: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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- put blue pen in the pen stand 3- put the white packet in the jar 4- put the blue pen in a pen stand 5- put the white packet in the jar\n\u003c/PRED\u003e","video":"16998876868133301105.mp4"}
+{"uid":"1817908286741451897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4306413950953028781.mp4"}
+{"uid":"9990078974787653998","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in a glass jar\n\u003c/PRED\u003e","video":"2153526756634125569.mp4"}
+{"uid":"7783230691882126397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet 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":"3431336506114607728.mp4"}
+{"uid":"13513546508092411082","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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in a pen stand 2- put the white packet in the jar 3- put the blue packet in the jar 4- 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 blue pen in a 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the blue pen in a pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in a 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 a 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 blue pen in a 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 a pen stand\n\u003c/PRED\u003e","video":"18203338340965667419.mp4"}
+{"uid":"3820760130408960537","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the 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- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the jar 2- put the orange pen in the pen stand 3- put the black pen in a pen stand 4- put blue pen in the pen stand 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- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Place the 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: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the 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","video":"8503949938747895098.mp4"}
+{"uid":"10655140745535866869","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":"9664498077166240968.mp4"}
+{"uid":"4328540172742484866","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: Place the pen in the holder\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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the holder 2- put blue pen in the pen stand 3- put the white packet in the jar 4- put the blue pen in a pen stand 5- put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the holder\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 the pen in the holder\n\u003c/PRED\u003e","video":"11105507915701636224.mp4"}
+{"uid":"16073217098009591592","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3219729623592335793.mp4"}
+{"uid":"15459922514702049955","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 packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- put the orange pen in the pen stand 3- put the black pen in a pen stand 4- put blue pen in the pen stand 5- 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 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- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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","video":"6842252598550676784.mp4"}
+{"uid":"5812332291112868810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRemove the glass from the middle stack put it 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":"16318559846041762128.mp4"}
+{"uid":"8168747455430016123","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put water bottle on the table 2- place hint bottle on the table 3- place hint bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8041757422652530460.mp4"}
+{"uid":"12158287873492644165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1525547614938700855.mp4"}
+{"uid":"10806925059024770510","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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Place the pen in the holder\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 the pen in the holder\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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the holder 2- put the white packet in the jar 3- put the blue packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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: Place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the holder\n\u003c/PRED\u003e","video":"10470366196458927851.mp4"}
+{"uid":"7838791071413893997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12987148561740105078.mp4"}
+{"uid":"2924933711713955638","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":"8244477138888974741.mp4"}
+{"uid":"12988249382142683593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker 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":"9126067759125293697.mp4"}
+{"uid":"15207838182592498876","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 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 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:success:discrete:False\u003e\nput 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 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put the white packet in the jar 3- put the blue packet in the jar 4- done\n\u003c/PRED\u003e","video":"16463458466240119831.mp4"}
+{"uid":"14032786296440372543","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":"17516155531969724614.mp4"}
+{"uid":"6619595220025158529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the candies Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12595117746814329465.mp4"}
+{"uid":"1034477802939469578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10110702033770056431.mp4"}
+{"uid":"5243692559218093711","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Place the hint 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 hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hint bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- done\n\u003c/PRED\u003e","video":"5027494709101274664.mp4"}
+{"uid":"9137032136193830756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tissue 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":"14877977709901379693.mp4"}
+{"uid":"7606716110082544273","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e","video":"9050838526911956549.mp4"}
+{"uid":"10511105444262350079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy 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":"10559913689864923704.mp4"}
+{"uid":"17024346972936772736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee 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":"17078818963510963954.mp4"}
+{"uid":"2279710683835644150","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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand Q: immediate next step? \u003cPRED\u003eA: Place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the holder 2- put the white packet in the jar 3- put the blue pen in a pen stand 4- put the white packet in the jar 5- put the blue 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: Place the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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":"4758299241188411298.mp4"}
+{"uid":"4571742403841225445","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: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in a glass 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar 9- put the blue packet in a glass jar 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar 9- put the blue packet in a glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16755008000517592925.mp4"}
+{"uid":"12197821484867773517","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tray on upright 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Place the tray on upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tray on upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table 6- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the tray on upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tray on upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tray on upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tray on upright\n\u003c/PRED\u003e","video":"9233812824196497307.mp4"}
+{"uid":"14641221747354897014","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen 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\nPlace the pen 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 snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Place the pen the holder\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- put the white packet in the jar 2- put the white packet in a glass jar Q: immediate next step? \u003cPRED\u003eA: Place the pen the holder\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- put the white packet in the jar 2- put the white packet in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen the holder 2- put the black pen in a pen stand 3- put blue pen in the pen stand 4- put the white packet in the jar 5- put the blue pen in a pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen the holder\n\u003c/PRED\u003e","video":"9086933891007813865.mp4"}
+{"uid":"7942881009499877197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11638549554843572291.mp4"}
+{"uid":"13598197011158189701","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":"16137265424290111325.mp4"}
+{"uid":"11714778694764656348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8655458744565145150.mp4"}
+{"uid":"14751307210875041375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the circle shape object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17396308530673772632.mp4"}
+{"uid":"9532081733039897747","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put water bottle on the table 2- place hint bottle on the table 3- put water bottle on the table 4- place hint bottle on the table 5- place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e","video":"13857756433784941996.mp4"}
+{"uid":"6456733961963460312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12273495199648983516.mp4"}
+{"uid":"3313737199476494432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the dark green packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5640475089454926003.mp4"}
+{"uid":"16688557833000383429","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 orange 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: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: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: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- put the white packet in the jar 2- put the white packet in a glass jar Q: immediate next step? \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: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- put the white packet in the jar 2- put the white packet in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen stand 2- put the black pen in a pen stand 3- put blue pen in the pen stand 4- put the white packet in the jar 5- put the blue pen in a pen stand\n\u003c/PRED\u003e","video":"12492543398295505092.mp4"}
+{"uid":"12646799175805218828","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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in a glass jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 a glass 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in a glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in a glass jar\n\u003c/PRED\u003e","video":"4119936040461492912.mp4"}
+{"uid":"7311735669143452137","text":"\u003ctask:success:discrete:True\u003e\nput 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"16251107477879852687.mp4"}
+{"uid":"7780140530374620735","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15694256056006775924.mp4"}
+{"uid":"15772696169915447638","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":"4061766167459462153.mp4"}
+{"uid":"3318615255103908869","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hint bottle on the table 2- place hint bottle on the table 3- place hint bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e","video":"14282433778015761373.mp4"}
+{"uid":"13826211553222536393","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in a 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 black pen in a pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in a 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 black pen in a 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in a 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 a 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in a pen stand 2- put blue pen in the pen stand 3- put the white packet in the jar 4- put the blue pen in a pen stand 5- put the white packet in the jar\n\u003c/PRED\u003e","video":"16591049356056290727.mp4"}
+{"uid":"957425657145326282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red pen on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8120877235466161097.mp4"}
+{"uid":"11937246069015876575","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hint bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hint bottle on the table\n\u003c/PRED\u003e","video":"11503790476090802390.mp4"}
+{"uid":"3863130001082461169","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the jar 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 the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the 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\nPlace the 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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand 8- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in the jar\n\u003c/PRED\u003e","video":"8833180022459934455.mp4"}
+{"uid":"13069983488769123731","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle 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 water bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput water 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:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e","video":"3486340875721134162.mp4"}
+{"uid":"1709179082606410288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9720731839579457455.mp4"}
+{"uid":"11939148399334513214","text":"\u003ctask:success:discrete:True\u003e\nput 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"15248365431274080148.mp4"}
+{"uid":"3193106898514418339","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13785612761102031826.mp4"}
+{"uid":"15855919610959850613","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the 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- Place the packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue 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: Place the 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: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the 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","video":"16963568492925255447.mp4"}
+{"uid":"11925755862269671666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16878901599255960253.mp4"}
+{"uid":"11109760078154001667","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the jar 2- put the blue packet in the jar 3- 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand Q: immediate next step? \u003cPRED\u003eA: place the 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: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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\nplace the 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":"6428822407137563227.mp4"}
+{"uid":"6178292808309445312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"4841058686028084681.mp4"}
+{"uid":"2022370542638728907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13585751940391602957.mp4"}
+{"uid":"14048689256503384288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the left cup 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":"4191722303588435986.mp4"}
+{"uid":"3348392209013012757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the glass on 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":"4807470482752512238.mp4"}
+{"uid":"17654590111904136874","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"6175329264824805625.mp4"}
+{"uid":"8722596006090461653","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- place hint bottle on the table 3- place hint bottle on the table 4- done\n\u003c/PRED\u003e","video":"13685271889307468693.mp4"}
+{"uid":"2552854045454053167","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table 3- place hint bottle on the table 4- place hint bottle on the table 5- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- place hint bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16923195686400795520.mp4"}
+{"uid":"12423830365821907864","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in a 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in a pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in a 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 a pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in a 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in a pen stand 2- put the white packet in the jar 3- put the blue pen in a pen stand 4- put the white packet in the jar 5- put the blue 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 blue pen in a pen stand\n\u003c/PRED\u003e","video":"5236177079897660672.mp4"}
+{"uid":"6312309179795674349","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in a 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 a pen stand\n\u003c/PRED\u003e","video":"8461115610701081983.mp4"}
+{"uid":"7383288955285955563","text":"\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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand Q: immediate next step? \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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand 6- put the white packet in the jar 7- put the blue pen in a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the blue packet in the jar 3- done\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: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","video":"1464895550455046291.mp4"}
+{"uid":"15135169018438757985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10443423720083541796.mp4"}
+{"uid":"17226872012192807899","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 white packet in the 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: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: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- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put 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 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","video":"7611529251717482806.mp4"}
+{"uid":"9245297361898316399","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- place hint bottle on the table 3- place hint bottle on the table 4- put water bottle on the table 5- place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e","video":"2960248252972514471.mp4"}
+{"uid":"14941896267339010272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17478192615639055006.mp4"}
+{"uid":"8027123814426809298","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":"16324282262570084349.mp4"}
+{"uid":"552973438787594040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14034680481505375540.mp4"}
+{"uid":"10333055064511356739","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in a glass 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 a glass 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the white packet in a glass 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the blue pen in a pen stand 3- put the white packet in the jar 4- put the blue packet in the jar 5- done\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: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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in a glass jar 2- put the blue pen in a pen stand 3- put the white packet in the jar 4- put the blue packet in the jar 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in a glass 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand 5- put blue pen in the pen stand Q: immediate next step? \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","video":"12035300397913092653.mp4"}
+{"uid":"1715058343097300829","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put the white packet in the jar 3- put the blue pen in a pen stand 4- put the white packet in the jar 5- put the blue 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- put the white packet in the jar 2- put the white packet in a glass jar 3- put the orange pen in the pen stand 4- put the black pen in a pen stand Q: immediate next step? \u003cPRED\u003eA: put 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"14047444018741295716.mp4"}
+{"uid":"17160856193783207479","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the waters from the rack. last 20 steps: 1- put water bottle on the table 2- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- place hint bottle on the table 3- put water bottle on the table 4- place hint bottle on the table 5- place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the waters from the rack Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5444215302598305634.mp4"}
+{"uid":"13436290028855599470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the battery in the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8137992153395973794.mp4"}
+{"uid":"12388564966505585982","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop apple on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop apple on the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop apple on the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl 4- Drop orange on the bowl 5- done\n\u003c/PRED\u003e","video":"16612114244214119129.mp4"}
+{"uid":"9961085194024844928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9564686292200022701.mp4"}
+{"uid":"7954321566355805059","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up candies\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up candies Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11774469689123851834.mp4"}
+{"uid":"4658493783536375672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pista in coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1399172018246971242.mp4"}
+{"uid":"11635619128009453517","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e","video":"3924631657362082489.mp4"}
+{"uid":"14270373923369122327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the blue book on 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":"1242045094562388826.mp4"}
+{"uid":"10119921983983597647","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":"8462901652329787042.mp4"}
+{"uid":"18410032503405475108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"8916280807779953803.mp4"}
+{"uid":"6676622753157630193","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop orange on the bowl 2- Drop orange on the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop orange on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop orange on the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl Q: immediate next step? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e","video":"5798629284373721693.mp4"}
+{"uid":"13843980374215366626","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pick up packets 3- open the drawer 4- place packets in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7870735633546654003.mp4"}
+{"uid":"11464948546357072876","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl 4- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl 4- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18002819881461293291.mp4"}
+{"uid":"10085025745320805020","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- adjust the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"10968167636776552428.mp4"}
+{"uid":"16795407061438832887","text":"\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"8353168493638403120.mp4"}
+{"uid":"11486348474358774375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a plastic spoon in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2614534614781932298.mp4"}
+{"uid":"9931513427873869998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy 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":"12767617352243396855.mp4"}
+{"uid":"6928981629264175543","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- adjust the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"11892243758760260223.mp4"}
+{"uid":"18407009061964107601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass upon the top left white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11691106010755960530.mp4"}
+{"uid":"4276689688971374184","text":"\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"7267859973286222452.mp4"}
+{"uid":"10938520051517941217","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- Drop orange on the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10380213224104605995.mp4"}
+{"uid":"7104356123852910199","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- put orange in the bowl 6- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- put orange in the bowl 6- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e","video":"13242464990460637059.mp4"}
+{"uid":"6697448046210619589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11704289809186817979.mp4"}
+{"uid":"13802061118185750311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi 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":"5577495197737439750.mp4"}
+{"uid":"13094420883095997711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9174683049510571821.mp4"}
+{"uid":"15017076553474373679","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer 5- pick up packets Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place packets in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer 5- pick up packets Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"12967685651680639764.mp4"}
+{"uid":"2617236387855490461","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the white bowl 2- Drop orange on the bowl 3- Drop orange on the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e","video":"13424502600929119719.mp4"}
+{"uid":"16434944590325512422","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- done\n\u003c/PRED\u003e","video":"1918681852362877453.mp4"}
+{"uid":"17181805339577042296","text":"\u003ctask:success:discrete:True\u003e\npick up packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 packets\n\u003c/PRED\u003e","video":"14471055286124617071.mp4"}
+{"uid":"5001148782352623892","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the white bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the white bowl\n\u003c/PRED\u003e","video":"11243119371897405170.mp4"}
+{"uid":"5680587251512564909","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the white bowl 2- Drop apple on the bowl 3- Drop orange on the bowl 4- Drop orange on the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17246272330891920127.mp4"}
+{"uid":"8611130743315894372","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer 5- pick up packets 6- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer 5- pick up packets 6- open the drawer Q: immediate next step? \u003cPRED\u003eA: place packets in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. Q: immediate next step? \u003cPRED\u003eA: place packets in the drawer\n\u003c/PRED\u003e","video":"2104840651091167182.mp4"}
+{"uid":"7167526972646124076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue marker on the white board slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9046561282548677698.mp4"}
+{"uid":"8306459572313745405","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer Q: immediate next step? \u003cPRED\u003eA: place candies in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. Q: immediate next step? \u003cPRED\u003eA: place candies in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candies in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place candies in the drawer 2- close the drawer 3- pick up packets 4- open the drawer 5- place packets in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candies in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies in the drawer\n\u003c/PRED\u003e","video":"10690865836017540334.mp4"}
+{"uid":"4464367462961349699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10573405668952994345.mp4"}
+{"uid":"16189478210275283662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12208079217930562054.mp4"}
+{"uid":"13607829064019256039","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"813945080403862161.mp4"}
+{"uid":"7209885388269054403","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: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place candies in the drawer 3- close the drawer 4- pick up packets 5- open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. 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","video":"10091606390032621518.mp4"}
+{"uid":"4267631967393611299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1504613558222847549.mp4"}
+{"uid":"1708654158358136051","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":"15773542092993548748.mp4"}
+{"uid":"8884177937140874787","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- adjust the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"8475359964459102339.mp4"}
+{"uid":"5868554860210524505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the white packet from 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":"17461288388271757226.mp4"}
+{"uid":"13883040465989997484","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop orange on the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop orange on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl Q: immediate next step? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e","video":"8857916212811321121.mp4"}
+{"uid":"7594283419348066546","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop apple on the bowl 2- Drop orange on the bowl 3- Drop orange on the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop apple on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e","video":"15942173631941864204.mp4"}
+{"uid":"6291931442714513157","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":"15072166667904324100.mp4"}
+{"uid":"5444631891445854364","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- adjust the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"6288925850323358450.mp4"}
+{"uid":"3088357077195840736","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop apple on the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop apple on the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8389567193888174375.mp4"}
+{"uid":"11379386540899895593","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop orange on the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3455916551036051252.mp4"}
+{"uid":"7130392892473483610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6131597536769644149.mp4"}
+{"uid":"306861531524746629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cookie in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15478238932457677852.mp4"}
+{"uid":"13707940617378981761","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up candies Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. Q: immediate next step? \u003cPRED\u003eA: pick up candies\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up candies Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up candies\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up candies\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up candies\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer 5- pick up packets\n\u003c/PRED\u003e","video":"13493495791829414257.mp4"}
+{"uid":"12167653955164875376","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- Drop orange on the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"8862794558474791753.mp4"}
+{"uid":"9075620192229737606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut tenth orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12042483676155482174.mp4"}
+{"uid":"15315141821677586497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15971227290655797737.mp4"}
+{"uid":"9682534060004260972","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop orange on the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl 4- Drop orange on the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple in the bowl 2- Drop apple on the bowl 3- Drop orange on the bowl 4- Drop orange on the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop orange on the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9448034228669957683.mp4"}
+{"uid":"15736250078489835902","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10975784964557683054.mp4"}
+{"uid":"3381582347633109321","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer 5- pick up packets 6- open the drawer 7- place packets in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer 5- pick up packets 6- open the drawer 7- place packets in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"15722143682023331010.mp4"}
+{"uid":"14176339312943140409","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the oranges in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e","video":"16755213984597834362.mp4"}
+{"uid":"15874214428274611684","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up packets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer Q: immediate next step? \u003cPRED\u003eA: pick up packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. last 20 steps: 1- pick up candies 2- open the drawer 3- place candies in the drawer 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up packets 2- open the drawer 3- place packets in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up packets\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please put the candies and chip bags back from the mk table to the drawers. Q: immediate next step? \u003cPRED\u003eA: pick up packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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","video":"5911489920631468055.mp4"}
+{"uid":"1922477799986353124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow colored marker pen into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10045565292149308069.mp4"}
+{"uid":"15394919830346308491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a corn put it in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11868110759373349229.mp4"}
+{"uid":"17616064480543190507","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":"17228473356674627003.mp4"}
+{"uid":"6503064446265200091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18216836343389393245.mp4"}
+{"uid":"9119055255236608634","text":"\u003ctask:success:discrete:True\u003e\nPut orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e","video":"12050393414367081704.mp4"}
+{"uid":"10648684421106630187","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the glass 2- unstack the glass 3- unstack the bowl 4- Unstack the bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e","video":"7942019105769408991.mp4"}
+{"uid":"4083168134623302262","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow packet in the drawer\n\u003c/PRED\u003e","video":"13237592345757773364.mp4"}
+{"uid":"2298521561778165641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the clip box in the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2635159840978441367.mp4"}
+{"uid":"17925871000098816436","text":"\u003ctask:success:discrete:True\u003e\nunstack the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the orange glass\n\u003c/PRED\u003e","video":"12665858794162528349.mp4"}
+{"uid":"5326643633347431800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11734865218916158959.mp4"}
+{"uid":"114686044659815140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons 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":"4074150964581169484.mp4"}
+{"uid":"11147332985548926902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2689557247617381929.mp4"}
+{"uid":"14387241545208218224","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in the bowl 2- Put orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11220883522836150880.mp4"}
+{"uid":"2591720460724055811","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- put orange in the bowl 3- put orange in the bowl 4- Put orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"8531394745285745374.mp4"}
+{"uid":"11386979982716278517","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":"16664644847266847359.mp4"}
+{"uid":"17364444297319925919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the beans 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":"18287290542875531437.mp4"}
+{"uid":"12459717839786744227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets 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":"15302190703861037712.mp4"}
+{"uid":"17685874037650767637","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"796588059172433375.mp4"}
+{"uid":"11021716777415254685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13302204682727703270.mp4"}
+{"uid":"12770828503784286594","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e","video":"738020562647090963.mp4"}
+{"uid":"18343472917676530270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5700896588980022332.mp4"}
+{"uid":"15282491142740706676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9422266548582103977.mp4"}
+{"uid":"6265760737604601951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"12774506730479598914.mp4"}
+{"uid":"12119899083588382449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10701654572388061532.mp4"}
+{"uid":"4335982531494035789","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the two glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the two glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the two glasses 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the two glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the two glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the two glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the two glasses\n\u003c/PRED\u003e","video":"1166165330989803145.mp4"}
+{"uid":"1872340405820538500","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":"14386355491637298661.mp4"}
+{"uid":"2223194554616487766","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the bowl 3- Unstack the bowl 4- Unstack the bowl 5- put orange in the bowl\n\u003c/PRED\u003e","video":"11713268439269537098.mp4"}
+{"uid":"450919144315042461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a grey cloth in the grey 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":"7838456047867056653.mp4"}
+{"uid":"13291817214044282111","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"18176728064903769074.mp4"}
+{"uid":"3024131316716028030","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put orange in the bowl 3- Put orange in the bowl 4- put the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17646401580400447953.mp4"}
+{"uid":"2489884084308395970","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the gripper 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the gripper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: close the gripper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the gripper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: close the gripper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13758814463650915982.mp4"}
+{"uid":"1028192846009418062","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15016515236614487293.mp4"}
+{"uid":"16580093438445664689","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the two glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the two glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6480028407155033619.mp4"}
+{"uid":"11208947898548638108","text":"\u003ctask:success:discrete:True\u003e\nunstack 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: unstack the glass\n\u003c/PRED\u003e","video":"2984770399491883773.mp4"}
+{"uid":"17915148824811964626","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl 11- Put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl 11- Put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"10971536723275729270.mp4"}
+{"uid":"5391514245104317889","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass\n\u003c/PRED\u003e","video":"1487132581431752410.mp4"}
+{"uid":"12226082065193486441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red bull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15328996536282756204.mp4"}
+{"uid":"10220676813047599371","text":"\u003ctask:success:discrete:True\u003e\nunstack 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: unstack the glass\n\u003c/PRED\u003e","video":"3655572577933841926.mp4"}
+{"uid":"1280148604219212594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the door to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2696118565949785598.mp4"}
+{"uid":"10148282352118882274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen Black marker drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15536410489969872687.mp4"}
+{"uid":"9638394610325144835","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12278087119251154338.mp4"}
+{"uid":"5466523620246448931","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table 4- Open the drawer 5- Put pink packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table 4- Open the drawer 5- Put pink packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the drawer 2- Close the drawer 3- done\n\u003c/PRED\u003e","video":"7708529938740744574.mp4"}
+{"uid":"18278773354225640299","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":"5459257986201867039.mp4"}
+{"uid":"13813153841680060992","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow 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 yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table 4- Open the drawer 5- Put pink packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet on the table\n\u003c/PRED\u003e","video":"13932918273705099074.mp4"}
+{"uid":"8562080909572012711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10874961212825976844.mp4"}
+{"uid":"5896885882826068997","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl 11- Put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl 11- Put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e","video":"16268348796692666157.mp4"}
+{"uid":"14206408271732715048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12684753009421980574.mp4"}
+{"uid":"5124235459830943528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6638859526000607718.mp4"}
+{"uid":"14870905744727000141","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":"18226903192508587923.mp4"}
+{"uid":"3729435430099663794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16041900944585062350.mp4"}
+{"uid":"604637774458996686","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet at left corner\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet at left corner\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet at left corner\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet at left corner\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet at left corner 2- Put the pink packet on the table 3- Open the drawer 4- Put pink packet in the drawer 5- Put the yellow packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet at left corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow packet at left corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5959858205698770721.mp4"}
+{"uid":"9091056047006364190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1456355271825626511.mp4"}
+{"uid":"5244781655502013231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15055454489634304852.mp4"}
+{"uid":"14913997140356348438","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the bowl 2- put orange in the bowl 3- put orange in the bowl 4- Put orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e","video":"6724686861409680734.mp4"}
+{"uid":"8168654783690377482","text":"\u003ctask:success:discrete:True\u003e\nPut pink packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pink packet in the drawer\n\u003c/PRED\u003e","video":"3639329903732284757.mp4"}
+{"uid":"15481493565797801208","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner Q: immediate next step? \u003cPRED\u003eA: Put the pink packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink 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 pink packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the pink packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink 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 pink packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink packet on the table 2- Open the drawer 3- Put pink packet in the drawer 4- Put the yellow packet in the drawer 5- Close the drawer\n\u003c/PRED\u003e","video":"13564358494664954249.mp4"}
+{"uid":"1089176408728179260","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl 11- Put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl 11- Put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"18160429080402135448.mp4"}
+{"uid":"5458953194608831977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11513697209100643537.mp4"}
+{"uid":"12741194638617531870","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"12543735183351818768.mp4"}
+{"uid":"4088241880212842406","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: open the gripper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the gripper 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3375990005472061799.mp4"}
+{"uid":"5898556487958375515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12121651709709925269.mp4"}
+{"uid":"11148274517536073240","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- Put orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17546564914640777990.mp4"}
+{"uid":"13593919725469084029","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- Unstack the bowl 3- Unstack the bowl 4- put orange in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"11639041761888169277.mp4"}
+{"uid":"17500596496786222583","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- Unstack the bowl 3- put orange in the bowl 4- put orange in the bowl 5- Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"9845743561703162725.mp4"}
+{"uid":"4615538106629899625","text":"\u003ctask:success:discrete:True\u003e\nUnstack 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: Unstack the glass\n\u003c/PRED\u003e","video":"9320196487360535888.mp4"}
+{"uid":"10640762062535378757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the original packet in the organizing tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13990036034980605630.mp4"}
+{"uid":"6505312340320490648","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":"12739970761198403910.mp4"}
+{"uid":"13722877272239053374","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"90106309361004701.mp4"}
+{"uid":"16842443925420454356","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the bowl 2- Unstack the bowl 3- Unstack the bowl 4- put orange in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e","video":"8447018300942037684.mp4"}
+{"uid":"8211228907349378374","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table 4- Open the drawer 5- Put pink packet in the drawer 6- Put the yellow packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table 4- Open the drawer 5- Put pink packet in the drawer 6- Put the yellow packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2260896370603499564.mp4"}
+{"uid":"13201924546159878070","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unsatck the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunsatck the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unsatck the glasses 2- unstack the bowl 3- Unstack the bowl 4- Unstack the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unsatck the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunsatck the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unsatck the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unsatck the glasses\n\u003c/PRED\u003e","video":"9956045988395448942.mp4"}
+{"uid":"1396041390504374050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup under the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9566018777503970367.mp4"}
+{"uid":"17421045421559725613","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"431736312278868960.mp4"}
+{"uid":"6676970984249630308","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowls 2- put orange in the bowl 3- put orange in the bowl 4- Put orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowls Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowls\n\u003c/PRED\u003e","video":"17724888458248593250.mp4"}
+{"uid":"7822642487016373682","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table 4- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink packet in the drawer 2- Put the yellow packet in the drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pink packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer Q: immediate next step? \u003cPRED\u003eA: Put pink packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table 4- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put pink packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2737140111361745729.mp4"}
+{"uid":"6017073313133936890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Blue cloth in the gray 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":"8453833837845587047.mp4"}
+{"uid":"15842037585290846813","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- Put orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15767746968293173671.mp4"}
+{"uid":"18167952977631927820","text":"\u003ctask:success:discrete:True\u003e\nunstack 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: unstack the bowl\n\u003c/PRED\u003e","video":"11106219960478355794.mp4"}
+{"uid":"1118557720298844177","text":"\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- Put orange in the bowl 4- put the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"15332951611605397092.mp4"}
+{"uid":"12383372097274555308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"10910019746547331091.mp4"}
+{"uid":"10394636443646425163","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the bowl 4- Unstack the bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3377539537909930957.mp4"}
+{"uid":"11393934574033303663","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the orange glass 2- unstack the glass 3- unstack the bowl 4- Unstack the bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the orange glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the orange glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the orange glass\n\u003c/PRED\u003e","video":"13961885131913801972.mp4"}
+{"uid":"4150778210130564085","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":"9980849241205966665.mp4"}
+{"uid":"11539153557407861643","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"5791804737884200860.mp4"}
+{"uid":"13263048210971601677","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the bowl 2- Unstack the bowl 3- put orange in the bowl 4- put orange in the bowl 5- Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e","video":"13331441632524927682.mp4"}
+{"uid":"14782127926970447529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knives in the pot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13488022572343712907.mp4"}
+{"uid":"6943544029942393325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7971339092004599988.mp4"}
+{"uid":"5188282821914692088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14937819887298100299.mp4"}
+{"uid":"876472820394150981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate balls 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":"10870520399823587877.mp4"}
+{"uid":"6141338672382926815","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- Put orange in the bowl 4- put the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"12119598835604896341.mp4"}
+{"uid":"2904175476464959108","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":"9200484792750280991.mp4"}
+{"uid":"16634041702164840963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11499816652116059304.mp4"}
+{"uid":"3762040277337770149","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass 5- unstack the glass 6- unstack the bowl 7- Unstack the bowl 8- Unstack the bowl 9- put orange in the bowl 10- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in the bowl 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put orange in the bowl\n\u003c/PRED\u003e","video":"5166855478250015651.mp4"}
+{"uid":"9829147739538083451","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the glass 2- unstack the bowl 3- Unstack the bowl 4- Unstack the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the glass Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e","video":"8678991765244281547.mp4"}
+{"uid":"11285364489262460655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11754950028767968867.mp4"}
+{"uid":"9491060745057370188","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":"1924767782686552813.mp4"}
+{"uid":"15643129750795711351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17437551379545732840.mp4"}
+{"uid":"10439966521501296655","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unsatck the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunsatck the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8220909681861179667.mp4"}
+{"uid":"8275114560920356617","text":"\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: Take the boxes of tea off the display rack and put them back in the drawer Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put pink packet in the drawer 3- Put the yellow packet in the drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the boxes of tea off the display rack and put them back in the drawer. last 20 steps: 1- Put the yellow packet on the table 2- Place the yellow packet at left corner 3- Put the pink packet on the table Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"7530389526432980414.mp4"}
+{"uid":"16300103184177776494","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":"6490985939416841247.mp4"}
+{"uid":"16334310289345374967","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut second 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put second glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table Q: immediate next step? \u003cPRED\u003eA: Put second glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put second glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put second glass on the table 2- put the brown paper on white table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put second glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut second 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":"1144779928874980439.mp4"}
+{"uid":"12821481286505684356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1854880356617526949.mp4"}
+{"uid":"5092974644724419798","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown paper on white table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown paper on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 paper on white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table Q: immediate next step? \u003cPRED\u003eA: put the brown paper on white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the brown paper on white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown paper on white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown paper on white table\n\u003c/PRED\u003e","video":"4058949937505861071.mp4"}
+{"uid":"5449392023140805985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13812346392286890119.mp4"}
+{"uid":"13038243940619013396","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put candy in a glass.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut candy in a glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8621734841268191714.mp4"}
+{"uid":"8439266692835490334","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in left cup 2- put glass on table 3- put the cup on the white table 4- put the brown paper on white table 5- done\n\u003c/PRED\u003e","video":"15753407803108917223.mp4"}
+{"uid":"6455979403232015131","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":"3679315989983675703.mp4"}
+{"uid":"943546062225947561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10708829795021834208.mp4"}
+{"uid":"12372866084413040198","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a glass.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put candy in a glass.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a glass. 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut candy in a glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put candy in a glass.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a glass.\n\u003c/PRED\u003e","video":"13396497868738233516.mp4"}
+{"uid":"15522916326420338108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3923590593104030174.mp4"}
+{"uid":"2185759742715206535","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table Q: immediate next step? \u003cPRED\u003eA: Put tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put tissue on the table\n\u003c/PRED\u003e","video":"10513275956350817427.mp4"}
+{"uid":"5949961436823752914","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the third candy in a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Drop the third candy in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the third candy in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: Drop the third candy in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the third candy in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the third candy in a 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the third candy in a glass 2- Put 4 candy in a glass 3- put pistachio in the cup 4- put pistachio in the cup 5- put pistachio in the cup\n\u003c/PRED\u003e","video":"15170001787917062415.mp4"}
+{"uid":"7556495040672218576","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- Drop 4 pista in a glass 3- put glass on table 4- put the cup on the white table 5- put the brown paper on white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15911142348961445017.mp4"}
+{"uid":"3618141043210765978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17773536525588488853.mp4"}
+{"uid":"9604079989907663381","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cup on the white 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":"9160309455396252004.mp4"}
+{"uid":"6481203453833924592","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in left cup 2- put pistachio in the cup 3- Drop 4 pista in a glass 4- put glass on table 5- put the cup on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e","video":"4273857395815264472.mp4"}
+{"uid":"10748350358257878465","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put second glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut second glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2825082555868542235.mp4"}
+{"uid":"789069547669712467","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table 11- put the brown paper on white table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table 11- put the brown paper on white table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown paper on white 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 brown paper on white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12167159825537816782.mp4"}
+{"uid":"11682951813665817822","text":"\u003ctask:success:discrete:False\u003e\nPut second candy in a 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put second candy in a glass 2- put orange candy in the cup 3- Put 4 candy in a glass 4- put pistachio in the cup 5- put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put second candy in a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put second candy in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut second candy in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put second candy in a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put second candy in a glass\n\u003c/PRED\u003e","video":"3996548441941744649.mp4"}
+{"uid":"17860819920519472583","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":"16076198487610030692.mp4"}
+{"uid":"15391774760861819141","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":"1261132818547748077.mp4"}
+{"uid":"9584232333596910175","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":"13604348451135008972.mp4"}
+{"uid":"10991539149544284400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange on the large green plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5755731874866720862.mp4"}
+{"uid":"17697843281389940979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut candy on a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2430177173421409360.mp4"}
+{"uid":"6137250732273913401","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put glass on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass Q: immediate next step? \u003cPRED\u003eA: put glass on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on table 2- put the cup on the white table 3- put the brown paper on white table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17795494875493926181.mp4"}
+{"uid":"16997602079623438591","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table 11- put brown tissue on white table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown tissue on white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table 11- put brown tissue on white table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput brown tissue on white 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":"10221743802164132781.mp4"}
+{"uid":"9356195024730387022","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange candy in the cup 2- put orange candy in the cup 3- Put 4 candy in a glass 4- put pistachio in the cup 5- put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14505535234806387266.mp4"}
+{"uid":"7348470957626700527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid 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":"13515581510645230704.mp4"}
+{"uid":"6816123271454297380","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange candy in the cup 2- Put 4 candy in a glass 3- put pistachio in the cup 4- put pistachio in the cup 5- put pistachio in the cup\n\u003c/PRED\u003e","video":"14789158474253728720.mp4"}
+{"uid":"17059803573537912612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange chocolate wrap in the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10407820140890886793.mp4"}
+{"uid":"4309534896402361691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet into the middle bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9888330142492878491.mp4"}
+{"uid":"12864936526308378557","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put glass on table 3- put the cup on the white table 4- put the brown paper on white table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e","video":"3127242423502822186.mp4"}
+{"uid":"17895001369299821269","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":"570100176727697119.mp4"}
+{"uid":"7194216790415113376","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Drop pista in a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass Q: immediate next step? \u003cPRED\u003eA: Drop pista in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pista in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pista in a glass 2- put pistachio in the cup 3- put pistachio in the cup 4- Drop 4 pista in a glass 5- put glass on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pista in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pista in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pista in a glass\n\u003c/PRED\u003e","video":"13687926253005742716.mp4"}
+{"uid":"826001562459567220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12738451276936332656.mp4"}
+{"uid":"17630916220390065791","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table Q: immediate next step? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the white table 2- put the brown paper on white table 3- done\n\u003c/PRED\u003e","video":"15328201124615938518.mp4"}
+{"uid":"13657897111578821089","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 2 pista in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put 2 pista in a glass 2- put pistachio in the cup 3- Drop 4 pista in a glass 4- put glass on table 5- put the cup on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put 2 pista in a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put 2 pista in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 2 pista in a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Put 2 pista in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 2 pista in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17338892077456132186.mp4"}
+{"uid":"5031346679156621311","text":"\u003ctask:success:discrete:True\u003e\nput the cup on the white 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 cup on the white table\n\u003c/PRED\u003e","video":"12102333708503293369.mp4"}
+{"uid":"11582401545835116533","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown tissue on white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown tissue on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown tissue on white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table Q: immediate next step? \u003cPRED\u003eA: put brown tissue on white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown tissue on white table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown tissue on white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put brown tissue on white table\n\u003c/PRED\u003e","video":"2724662276688858999.mp4"}
+{"uid":"13196052616869654790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpe 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":"1187287987381897106.mp4"}
+{"uid":"370130090764656329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the black book from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10740911690389888059.mp4"}
+{"uid":"64553768852100972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"9443728722778331659.mp4"}
+{"uid":"10096469811205349023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3488439099131202172.mp4"}
+{"uid":"1996591189886561206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue candy on the right of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3060201133840012763.mp4"}
+{"uid":"11165090741309153623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the coffee cup with 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":"89871484500151407.mp4"}
+{"uid":"17025985156948422530","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put cup on white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table Q: immediate next step? \u003cPRED\u003eA: put cup on white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on white table 2- put the brown paper on white table 3- done\n\u003c/PRED\u003e","video":"16885187898642445537.mp4"}
+{"uid":"1686044421590410590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8247232843392333304.mp4"}
+{"uid":"8615548658488348364","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":"17393078986398639323.mp4"}
+{"uid":"17441451169817173296","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in right cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7346016872418029921.mp4"}
+{"uid":"2146227430250801756","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put pistachio in the cup 3- Drop 4 pista in a glass 4- put glass on table 5- put the cup on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e","video":"17470776208758933208.mp4"}
+{"uid":"2182784110809469093","text":"\u003ctask:success:discrete:True\u003e\nput orange candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e","video":"12322963309661584165.mp4"}
+{"uid":"13006524822026034140","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in right cup 2- Put 4 candy in a glass 3- put pistachio in the cup 4- put pistachio in the cup 5- put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e","video":"15536770754859521194.mp4"}
+{"uid":"5771472673359023322","text":"\u003ctask:success:discrete:True\u003e\nput cup on white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on white table\n\u003c/PRED\u003e","video":"3568937857922683873.mp4"}
+{"uid":"16124470157565578160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMix the coffee with the stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"485013805353960623.mp4"}
+{"uid":"36194837247817842","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the white table 2- put the cup on the white table 3- put the brown paper on white table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass Q: immediate next step? \u003cPRED\u003eA: put the cup on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6246790102106217660.mp4"}
+{"uid":"15203596921531484465","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":"11244727452826105859.mp4"}
+{"uid":"2792272602798271838","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in right cup 2- put pistachio in the cup 3- put pistachio in the cup 4- put pistachio in the cup 5- Drop 4 pista in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e","video":"14750623910031562783.mp4"}
+{"uid":"3688798944495434582","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: Put 4 candy in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 4 candy in a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put 4 candy in a glass 2- put pistachio in the cup 3- put pistachio in the cup 4- put pistachio in the cup 5- Drop 4 pista in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 4 candy in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 4 candy in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put 4 candy in a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put 4 candy in a glass\n\u003c/PRED\u003e","video":"3723872927445483078.mp4"}
+{"uid":"2860944148988403839","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":"8542429353095314707.mp4"}
+{"uid":"18258718700065736380","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11077750869776157851.mp4"}
+{"uid":"15651629353529380936","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in left cup 2- Drop 4 pista in a glass 3- put glass on table 4- put the cup on the white table 5- put the brown paper on white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e","video":"15327526057770973616.mp4"}
+{"uid":"14748822231018288135","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in right cup 2- put orange candy in the cup 3- Put 4 candy in a glass 4- put pistachio in the cup 5- put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put orange packet in right cup\n\u003c/PRED\u003e","video":"8738981302296389439.mp4"}
+{"uid":"1792294054178982606","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the cup 2- put pistachio in the cup 3- put pistachio in the cup 4- Drop 4 pista in a glass 5- put glass on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass Q: immediate next step? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5744231106583287232.mp4"}
+{"uid":"5285794865575627841","text":"\u003ctask:success:discrete:True\u003e\nPut tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table 11- Put tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup 8- Drop 4 pista in a glass 9- put glass on table 10- put the cup on the white table 11- Put tissue on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5046245879731894789.mp4"}
+{"uid":"6735236674915863922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen into 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":"7532838107854830925.mp4"}
+{"uid":"14269658411958796501","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put third pista in a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Put third pista in a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put third pista in a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put third pista in a glass 2- Drop 4 pista in a glass 3- put glass on table 4- put the cup on the white table 5- put the brown paper on white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut third pista in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut third pista in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put third pista in a glass\n\u003c/PRED\u003e","video":"11389458585765082369.mp4"}
+{"uid":"11472146369687690554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sachet 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":"4726014631395442094.mp4"}
+{"uid":"10828046544118372233","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in left cup 2- put pistachio in the cup 3- put pistachio in the cup 4- Drop 4 pista in a glass 5- put glass on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in left cup\n\u003c/PRED\u003e","video":"13275909891334516305.mp4"}
+{"uid":"6554301999776496697","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput glass 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":"5954058722364874858.mp4"}
+{"uid":"14802509806802128125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15229932362019172473.mp4"}
+{"uid":"13556742660156627378","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop 4 pista in a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup Q: immediate next step? \u003cPRED\u003eA: Drop 4 pista in a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put orange candy in the cup 2- put orange candy in the cup 3- put orange candy in the cup 4- Put 4 candy in a glass 5- put pistachio in the cup 6- put pistachio in the cup 7- put pistachio in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Drop 4 pista in a glass 2- put glass on table 3- put the cup on the white table 4- put the brown paper on white table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 4 pista in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Drop 4 pista in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 4 pista in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop 4 pista in a glass\n\u003c/PRED\u003e","video":"14673029292848967309.mp4"}