diff --git "a/json/train/data-00036-of-00160.json" "b/json/train/data-00036-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00036-of-00160.json"
@@ -0,0 +1,422 @@
+{"uid":"2058165609704695364","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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 an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- push the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e","video":"12644908769379055072.mp4"}
+{"uid":"10214011917891369824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2020177425566169106.mp4"}
+{"uid":"8189951175350466835","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":"3736846688307117361.mp4"}
+{"uid":"12788666469606363907","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"15341312298649053154.mp4"}
+{"uid":"17471960707642490389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace instant 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":"3878679802128703969.mp4"}
+{"uid":"5727057017576080157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachios on the table from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12546803452652697020.mp4"}
+{"uid":"15054383003909129871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup 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":"1201480786446185283.mp4"}
+{"uid":"12321330697230527991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly open 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":"10654889673758993014.mp4"}
+{"uid":"3841263362296309948","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put apple in a bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut apple 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:affordance:discriminative:discrete:True\u003e\nPut apple 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e","video":"12050217745859020930.mp4"}
+{"uid":"4629962093843322515","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- done\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e","video":"17144841450869680401.mp4"}
+{"uid":"12617153907941443232","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the pens 3- place pen on the pens 4- place pen on the pens 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"1713590612388327385.mp4"}
+{"uid":"16408577722155116654","text":"\u003ctask:success:discrete:True\u003e\nput an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e","video":"10926697092823859206.mp4"}
+{"uid":"9097535324946625636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5206852212506677728.mp4"}
+{"uid":"17450612735847758819","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. 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: please take apples out of the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17593453826954322872.mp4"}
+{"uid":"15671196656657350985","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"5760133998509395351.mp4"}
+{"uid":"790911625759929612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16626432866700527457.mp4"}
+{"uid":"9095201855796974849","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- push the drawer 5- done\n\u003c/PRED\u003e","video":"11103104769365188350.mp4"}
+{"uid":"15716013297327253733","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4370086130902388167.mp4"}
+{"uid":"8351479524090890726","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":"11940855148600697231.mp4"}
+{"uid":"11470686071084075013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen 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":"13027084660266658445.mp4"}
+{"uid":"13818028172293825546","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":"13239517547221646797.mp4"}
+{"uid":"14540031789243275524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up a black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14489236217062571626.mp4"}
+{"uid":"10000339436207720256","text":"\u003ctask:success:discrete:False\u003e\nplace pen on the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the pens 3- place pen on the pens 4- place pen on the pens 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e","video":"16010797022240623136.mp4"}
+{"uid":"14094976200166746984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput circle 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":"16753208132003308408.mp4"}
+{"uid":"18014707941944449646","text":"\u003ctask:success:discrete:True\u003e\nPut third apple in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put third apple in a bowl\n\u003c/PRED\u003e","video":"7996476463336935250.mp4"}
+{"uid":"8221701424919729072","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an 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 take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the bowl 2- drop the apple into bowl 3- push the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e","video":"13504277247132402127.mp4"}
+{"uid":"12412127369444842262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17393557478986237277.mp4"}
+{"uid":"6306381448771266715","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- push the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"16811190300904952263.mp4"}
+{"uid":"3960603929915706293","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl 7- push the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl 7- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\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","video":"5140535493620306530.mp4"}
+{"uid":"5351638964541658961","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2944725998204290171.mp4"}
+{"uid":"15034753569491295979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18097879002743416544.mp4"}
+{"uid":"4248606530633929614","text":"\u003ctask:success:discrete:True\u003e\nPut fifth apple in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- Put fifth apple in a bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- Put fifth apple in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put fifth apple in a bowl\n\u003c/PRED\u003e","video":"6911845086485177009.mp4"}
+{"uid":"12656754895202394218","text":"\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"9843218446583777131.mp4"}
+{"uid":"283332652357650834","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"2555579017066663817.mp4"}
+{"uid":"15707565528099326678","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"326709826536820916.mp4"}
+{"uid":"345916202486302303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"5737685433726650943.mp4"}
+{"uid":"15235390623558338820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\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","video":"14912360482216851854.mp4"}
+{"uid":"5957969705345950777","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Put fifth apple in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fifth apple 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fifth apple in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fifth apple in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put fifth apple in a bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut fifth apple 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:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put fifth apple in a bowl\n\u003c/PRED\u003e","video":"9170675958482204548.mp4"}
+{"uid":"10951412064889319061","text":"\u003ctask:success:discrete:True\u003e\nplace pen 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 pen on the table\n\u003c/PRED\u003e","video":"15968064693266565620.mp4"}
+{"uid":"741180662921297972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet 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":"12881902014591848919.mp4"}
+{"uid":"8652350043325139484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy 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":"4631384886377165310.mp4"}
+{"uid":"4355636372580805411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"2061850240951681111.mp4"}
+{"uid":"16492257256595212392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace black pen inside 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":"15110211609659598066.mp4"}
+{"uid":"2187501078066311969","text":"\u003ctask:success:discrete:False\u003e\nPut second apple 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 take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put second apple in a bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put second apple in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put second apple in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Put second apple in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut second apple 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put second apple in a bowl\n\u003c/PRED\u003e","video":"554588137571412428.mp4"}
+{"uid":"11175694013451189401","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the table 3- place pen on the pens 4- place pen on the pens 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen on the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2243302040555692773.mp4"}
+{"uid":"1976999808672509298","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put fourth apple in aa bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput fourth apple in aa 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":"439623259102432949.mp4"}
+{"uid":"4101673146176012951","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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 an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the bowl 2- done\n\u003c/PRED\u003e","video":"13140198372172169269.mp4"}
+{"uid":"18308012619520884981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissues 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":"11563473770882593789.mp4"}
+{"uid":"15727124791258408483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer 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":"5242185313704471023.mp4"}
+{"uid":"15145863400164692388","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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 an 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 take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- push the drawer 5- done\n\u003c/PRED\u003e","video":"12251169582462512501.mp4"}
+{"uid":"6341232743523138823","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the pens 3- place pen on the table 4- place pen on the pens 5- place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e","video":"14424274956896084494.mp4"}
+{"uid":"17812774955293442096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick coffee cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17528586944591784700.mp4"}
+{"uid":"13078744734566855000","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens 14- place pen on the table 15- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens 14- place pen on the table 15- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the pens 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e","video":"15367282248429624622.mp4"}
+{"uid":"4378960471849833588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour water 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":"5339389574918566760.mp4"}
+{"uid":"9142098227744735467","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the pens 3- place pen on the table 4- place pen on the pens 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"15657413035062682899.mp4"}
+{"uid":"8603699230286027076","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put second apple in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut second apple in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11485167438137742531.mp4"}
+{"uid":"8953248702023315206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"672817615507330016.mp4"}
+{"uid":"12350108077091270021","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the pens 5- place pen on the table\n\u003c/PRED\u003e","video":"15731767945440257198.mp4"}
+{"uid":"17720596815617933891","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"697657016605718912.mp4"}
+{"uid":"3728214679694634925","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen 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":"18027684033683127217.mp4"}
+{"uid":"16261980461783125544","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the table 3- place pen on the pens 4- place pen on the pens 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 pen on the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen on the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7828820841169106326.mp4"}
+{"uid":"6312843411163528469","text":"\u003ctask:success:discrete:False\u003e\nplace pen on the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pen on the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens 14- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the pens 3- place pen on the pens 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 pen on the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens 14- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e","video":"8356169737176616745.mp4"}
+{"uid":"1947718149232589515","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":"453688455686936642.mp4"}
+{"uid":"6267797330328912322","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- push the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"4057287030913924934.mp4"}
+{"uid":"3363645689827185763","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the pens 3- place pen on the pens 4- place pen on the pens 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"5482387400423949509.mp4"}
+{"uid":"6213743851248712498","text":"\u003ctask:success:discrete:True\u003e\nput an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e","video":"14524941053184947871.mp4"}
+{"uid":"9139245351096817326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop paper into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6176460806239545605.mp4"}
+{"uid":"14608151911781399026","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- put an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- put an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13795018591922529460.mp4"}
+{"uid":"8019080994896026099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12176856408466767876.mp4"}
+{"uid":"4450034675987007231","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put fourth apple in aa bowl 2- drop the apple into bowl 3- push the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fourth apple in aa bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: put fourth apple in aa bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: put fourth apple in aa bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fourth apple in aa bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fourth apple in aa 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 fourth apple in aa bowl\n\u003c/PRED\u003e","video":"11126440768513726905.mp4"}
+{"uid":"7754727779062488334","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":"592431384310611492.mp4"}
+{"uid":"2156739087873583282","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl 6- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4223515040924874120.mp4"}
+{"uid":"536364666341809345","text":"\u003ctask:success:discrete:True\u003e\nPut apple in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put apple in a bowl\n\u003c/PRED\u003e","video":"16720476596354623775.mp4"}
+{"uid":"1754674546095327814","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10167398717443170696.mp4"}
+{"uid":"16593097397932381312","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an apple in the bowl 2- drop the apple into bowl 3- push the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e","video":"15909099456818935247.mp4"}
+{"uid":"11829984346078409123","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":"5904802692164560033.mp4"}
+{"uid":"15428132429135647820","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance: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: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: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17775761242407385997.mp4"}
+{"uid":"12869035721665112353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a white 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":"9064268968947956937.mp4"}
+{"uid":"18241375133185577258","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens 14- place pen on the table 15- place pen on the pens 16- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens 11- place pen on the pens 12- place pen on the table 13- place pen on the pens 14- place pen on the table 15- place pen on the pens 16- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e","video":"13899966116368758362.mp4"}
+{"uid":"11891066166517876907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plate in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11959947334625797605.mp4"}
+{"uid":"12443186114939936958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1300768348037204827.mp4"}
+{"uid":"9307315745069776696","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put third apple in a bowl 2- drop the apple into bowl 3- drop the apple into bowl 4- push the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put third apple in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut third apple 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put third apple in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Put third apple in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut third apple 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 take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put third apple in a bowl\n\u003c/PRED\u003e","video":"8573323859809136433.mp4"}
+{"uid":"1189428323063836407","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":"17119441351996600281.mp4"}
+{"uid":"16170267707494141556","text":"\u003ctask:success:discrete:True\u003e\nput an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an apple in the bowl\n\u003c/PRED\u003e","video":"14613958927247514430.mp4"}
+{"uid":"1836821201994307314","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the pens 3- place pen on the table 4- place pen on the pens 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"4253289715738506318.mp4"}
+{"uid":"15956044994541130709","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"18121009945061538239.mp4"}
+{"uid":"2879961557050611357","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- place pen on the pens 4- place pen on the table 5- place pen on the pens\n\u003c/PRED\u003e","video":"6705954173360072296.mp4"}
+{"uid":"14139480548067140746","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":"664192504156844300.mp4"}
+{"uid":"13198895138094165383","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- drop the apple into bowl 3- push the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take apples out of the drawer and place them into the bowl. last 20 steps: 1- open the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"2171478624147011724.mp4"}
+{"uid":"8230004213863564912","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"6881838801245036637.mp4"}
+{"uid":"14725720547082886946","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the pens 3- place pen on the pens 4- place pen on the table 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e","video":"1788597583421364723.mp4"}
+{"uid":"17459550861162596927","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":"12210374710893097416.mp4"}
+{"uid":"8770523140296915576","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":"15139218014398913950.mp4"}
+{"uid":"3901483573144997492","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":"18339272628028812655.mp4"}
+{"uid":"14006818879706113462","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pen on the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. last 20 steps: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- place pen on the table 5- place pen on the table 6- place pen on the pens 7- place pen on the table 8- place pen on the pens 9- place pen on the pens 10- place pen on the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the pens 2- place pen on the table 3- place pen on the pens 4- place pen on the table 5- place pen on the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue pens from the cup. Q: immediate next step? \u003cPRED\u003eA: place pen on the pens\n\u003c/PRED\u003e","video":"11616687761996309189.mp4"}
+{"uid":"14398360159472470800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace popcorn 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":"5470487145784210365.mp4"}
+{"uid":"3112895596734835343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer 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":"18135635260069837514.mp4"}
+{"uid":"3496154504336646517","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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 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 white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 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 white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- Put white packet in the jar 3- Place small packet in jar 4- Put pen in pen stand 5- Put  orange pen in pen stand\n\u003c/PRED\u003e","video":"8807318108413014729.mp4"}
+{"uid":"9668133048542930862","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":"11662816912791068791.mp4"}
+{"uid":"2449089145652697419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange 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":"17485122027513800178.mp4"}
+{"uid":"614709465839977262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic glass 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":"7565929860273941429.mp4"}
+{"uid":"1195431786943657217","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":"12889912490917144752.mp4"}
+{"uid":"12318447683396426695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue 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: 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder 9- put the blue pen in a pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder 9- put the blue pen in a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\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","video":"10557534785473823550.mp4"}
+{"uid":"13304735007857345068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrive towards the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5001034698960199859.mp4"}
+{"uid":"1765850113257970690","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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in a glass jar 2- Put  pen in the penholder 3- put the blue pen in a pen stand 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 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand Q: immediate next step? \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: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: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","video":"11603344454636938520.mp4"}
+{"uid":"11809946378052047699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pen in a left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4391160075671066493.mp4"}
+{"uid":"16987423507212258224","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet on a glass jar\n\u003c/PRED\u003e","video":"11468958254732891586.mp4"}
+{"uid":"4198382884974437540","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"10163396961263499467.mp4"}
+{"uid":"768760793077977772","text":"\u003ctask:success:discrete:True\u003e\nPlace the popcorn 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: Place the popcorn in the glass jar\n\u003c/PRED\u003e","video":"18048639811417794101.mp4"}
+{"uid":"17012909369928397367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3229047547224001175.mp4"}
+{"uid":"6078480384949300514","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 a pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand Q: immediate next step? \u003cPRED\u003eA: put the orange pen in a 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 a pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in a pen stand 2- Place white packet in the jar 3- Put  pen in the penholder 4- put the blue pen in a pen stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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","video":"10865586552066008374.mp4"}
+{"uid":"17736092867855521084","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":"2487949040818841198.mp4"}
+{"uid":"5102086768977787504","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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place blue pen in the pen holder 2- Put  orange pen in pen stand 3- Place white packet in the jar 4- Put  pen in the penholder 5- 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar Q: immediate next step? \u003cPRED\u003eA: Place 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 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 blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:affordance:discriminative:discrete:True\u003e\nPlace 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 blue pen in the pen holder\n\u003c/PRED\u003e","video":"7167606685523855472.mp4"}
+{"uid":"7955685815766614940","text":"\u003ctask:success:discrete:True\u003e\nPlace 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: Place white packet in the jar\n\u003c/PRED\u003e","video":"3863916204182580369.mp4"}
+{"uid":"13387258730339667060","text":"\u003ctask:success:discrete:True\u003e\nput the black 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 black pen in a pen stand\n\u003c/PRED\u003e","video":"1893334201176512103.mp4"}
+{"uid":"5083477887079395767","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn 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: Place the popcorn in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn 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: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 popcorn in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn 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- Place the popcorn in the glass jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn 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","video":"11203097460619014234.mp4"}
+{"uid":"6702237484135280329","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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand Q: immediate next step? \u003cPRED\u003eA: Put 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 white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- Put  pen in the penholder 3- put the blue pen in a pen stand 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 white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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":"590522100613478811.mp4"}
+{"uid":"12675232058177150935","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- Place small packet in jar 3- Put pen in pen stand 4- Put  orange pen in pen stand 5- Place 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 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 white packet in the jar 2- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Put 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 white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e","video":"14762562362540030405.mp4"}
+{"uid":"573666456099323395","text":"\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: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: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: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar Q: immediate next step? \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: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in a pen stand 2- put the blue pen in a pen stand 3- done\n\u003c/PRED\u003e","video":"14087934318372209948.mp4"}
+{"uid":"8535886464143443273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue 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":"2918357668513875240.mp4"}
+{"uid":"12963048174713205628","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut small 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 small 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 small 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Put small 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 small 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put small packet in the jar 2- Put pen in pen stand 3- Put  orange pen in pen stand 4- Place white packet in the jar 5- Put  pen in the penholder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put small packet in the jar\n\u003c/PRED\u003e","video":"3061721860536877037.mp4"}
+{"uid":"6223962357067694750","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 a 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 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder 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: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in a pen stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in 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","video":"17939837286751724707.mp4"}
+{"uid":"18081678946817168609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15743258509318021883.mp4"}
+{"uid":"7619971599602999610","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 white packet in the jar 2- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in jar 2- Place small packet in jar 3- Put pen in pen stand 4- Put  orange pen in pen stand 5- Place 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 white packet in the jar 2- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Place the white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the 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 white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 white packet in jar\n\u003c/PRED\u003e","video":"15106051326241841352.mp4"}
+{"uid":"16954867299409724026","text":"\u003ctask:success:discrete:True\u003e\nPut 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 white packet in the jar\n\u003c/PRED\u003e","video":"1441248091873504615.mp4"}
+{"uid":"3477564137585484821","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":"6807423522236863632.mp4"}
+{"uid":"12173470762785803062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the meeting 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":"3193939470570151429.mp4"}
+{"uid":"4785768976808848084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"5040031021212738427.mp4"}
+{"uid":"11733883870793315064","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: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder 9- Place blue pen in 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- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder 9- Put blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder 9- Put blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder 9- Place blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place blue pen in the pen holder\n\u003c/PRED\u003e\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","video":"13190828617995213549.mp4"}
+{"uid":"11615871069124573619","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":"9584320073052556024.mp4"}
+{"uid":"17009049482540571707","text":"\u003ctask:success:discrete:True\u003e\nPlace 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 black pen in the pen holder\n\u003c/PRED\u003e","video":"87733407743486414.mp4"}
+{"uid":"12481574184921978264","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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","video":"8977766518067719020.mp4"}
+{"uid":"9320722618327303460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5281231629331803264.mp4"}
+{"uid":"48883866063553681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace clips on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16013692712758591571.mp4"}
+{"uid":"15849780576031008794","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":"5701744267547447223.mp4"}
+{"uid":"13719313850088754469","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":"1406779239316796798.mp4"}
+{"uid":"10775349264030457335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 2 peach colour packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10618342510426221694.mp4"}
+{"uid":"17437115739666842108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9141393959113780413.mp4"}
+{"uid":"16847617556882756235","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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place white packet in the jar 2- Put  pen in the penholder 3- put the blue pen in a pen stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:success:discrete:False\u003e\nPlace white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place 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: Place white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand Q: immediate next step? \u003cPRED\u003eA: Place white packet in the jar\n\u003c/PRED\u003e","video":"13792632323030803653.mp4"}
+{"uid":"13533081054676828193","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: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar Q: immediate next step? \u003cPRED\u003eA: 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: 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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in a pen stand 2- Put  orange pen in pen stand 3- Place white packet in the jar 4- Put  pen in the penholder 5- 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","video":"3070043209783030529.mp4"}
+{"uid":"11834942639899784855","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1429812761009711318.mp4"}
+{"uid":"13730347205706635652","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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder Q: immediate next step? \u003cPRED\u003eA: Place 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 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 blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:affordance:discriminative:discrete:True\u003e\nPlace 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 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- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder Q: next 5 steps? \u003cPRED\u003eA: 1- Place blue pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"13599267238673851956.mp4"}
+{"uid":"9534210312156575977","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: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: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 white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in a glass jar 2- Put white packet in the jar 3- Place small packet in jar 4- Put pen in pen stand 5- Put  orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in a glass 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: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: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","video":"10642226909407044456.mp4"}
+{"uid":"17968734291708191391","text":"\u003ctask:success:discrete:False\u003e\nPlace small packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place small 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- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Place small packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place small packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace small packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Place small 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- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place small packet in jar 2- Put pen in pen stand 3- Put  orange pen in pen stand 4- Place white packet in the jar 5- Put  pen in the penholder\n\u003c/PRED\u003e","video":"16962247873234002630.mp4"}
+{"uid":"2400749809074899428","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"18332147648823630429.mp4"}
+{"uid":"3486264457052320171","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  pen in the penholder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut  pen in the penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Put  pen in the penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut  pen in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put  pen in the penholder 2- put the blue pen in a pen stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put  pen in the penholder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put  pen in the penholder\n\u003c/PRED\u003e","video":"15637377949864152718.mp4"}
+{"uid":"7236840730329883396","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the blue 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 blue packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue 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 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 blue 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: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the glass jar 2- Put pen in pen stand 3- Put  orange pen in pen stand 4- Place white packet in the jar 5- Put  pen in the penholder\n\u003c/PRED\u003e","video":"560266453572361442.mp4"}
+{"uid":"6885195042885470051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons 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":"15629375528281914858.mp4"}
+{"uid":"9655098123193085252","text":"\u003ctask:success:discrete:True\u003e\nPlace orange pen in 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 orange pen in pen holder\n\u003c/PRED\u003e","video":"12472693611980071213.mp4"}
+{"uid":"16107778189921039094","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":"8168742293479957190.mp4"}
+{"uid":"2611819845232283738","text":"\u003ctask:success:discrete:True\u003e\nPut  orange pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put  orange pen in pen stand\n\u003c/PRED\u003e","video":"10265754703428427998.mp4"}
+{"uid":"11071247001162526853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork 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":"1611939469662303787.mp4"}
+{"uid":"4337925343782469235","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":"6066146751617366105.mp4"}
+{"uid":"1614728448207681075","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in a pen stand\n\u003c/PRED\u003e\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","video":"11248900834041656328.mp4"}
+{"uid":"12718397136599582208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white object in a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white object 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":"16417546666212660180.mp4"}
+{"uid":"17315024603427361922","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: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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder Q: immediate next step? \u003cPRED\u003eA: 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: 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: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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar 8- Put  pen in the penholder Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue pen in the pen stand 2- done\n\u003c/PRED\u003e","video":"11958158431555228942.mp4"}
+{"uid":"13880149156872362270","text":"\u003ctask:success:discrete:True\u003e\nPut small 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 small packet in the jar\n\u003c/PRED\u003e","video":"16274107250786802868.mp4"}
+{"uid":"10345781009809857640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8719221229102121740.mp4"}
+{"uid":"9881032445364249615","text":"\u003ctask:success:discrete:False\u003e\nPut  orange pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put  orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Put  orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut  orange pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put  orange pen in pen stand 2- Place white packet in the jar 3- Put  pen in the penholder 4- put the blue pen in a pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put  orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand Q: immediate next step? \u003cPRED\u003eA: Put  orange pen in pen stand\n\u003c/PRED\u003e","video":"1120862535147393569.mp4"}
+{"uid":"10976586076793621993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow 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":"14031195851130392172.mp4"}
+{"uid":"10360428077064064574","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the 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 white packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Place the white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Place the 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- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in jar 2- Put white packet in the jar 3- Place small packet in jar 4- Put pen in pen stand 5- Put  orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15602631585213579458.mp4"}
+{"uid":"2853063075906667766","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 pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in pen stand 2- Put  orange pen in pen stand 3- Place white packet in the jar 4- Put  pen in the penholder 5- put the blue pen in a pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar Q: immediate next step? \u003cPRED\u003eA: Put pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in pen stand\n\u003c/PRED\u003e","video":"3369700077379226055.mp4"}
+{"uid":"15272825098920783077","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white object 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 white packet in the jar 2- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white object 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 object 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 white packet in the jar 2- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white object in a glass jar 2- Place small packet in jar 3- Put pen in pen stand 4- Put  orange pen in pen stand 5- Place white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white object 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 object 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: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 object in a glass jar\n\u003c/PRED\u003e","video":"11908151959872270599.mp4"}
+{"uid":"16098651362667939436","text":"\u003ctask:success:discrete:True\u003e\nPut 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 white packet in the jar\n\u003c/PRED\u003e","video":"16432718267297481497.mp4"}
+{"uid":"13097726393153423926","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 orange pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange pen in 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- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand Q: immediate next step? \u003cPRED\u003eA: Place orange pen in pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange pen in 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\nPlace orange pen in 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- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange pen in pen holder 2- Place white packet in the jar 3- Put  pen in the penholder 4- put the blue pen in a pen stand 5- done\n\u003c/PRED\u003e","video":"17255190618566285861.mp4"}
+{"uid":"15430619748788453312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow duck into 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":"1107945000030852533.mp4"}
+{"uid":"6830289152527100768","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":"2004986423762107115.mp4"}
+{"uid":"1377081886823514343","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 white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar Q: immediate next step? \u003cPRED\u003eA: Place black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Place black pen in 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- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand 6- Put  orange pen in pen stand 7- Place white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place black pen in the pen holder 2- put the blue pen in a pen stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place black pen in the pen holder\n\u003c/PRED\u003e","video":"7950068216113337961.mp4"}
+{"uid":"11652345145505332542","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put  pen in the penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut  pen in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6130434652183665501.mp4"}
+{"uid":"13887043941264171554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place small packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace small 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":"3701847874122785668.mp4"}
+{"uid":"17478419057118646056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"7386126296362162997.mp4"}
+{"uid":"2505107282264162692","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"4317775218437914302.mp4"}
+{"uid":"6137025123276583032","text":"\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: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 white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the 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: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: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: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","video":"16253732278713073328.mp4"}
+{"uid":"6069925703954063337","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 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 white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: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 in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- Put white packet in the jar 3- Put white packet in the jar 4- Place small packet in jar 5- Put pen in pen stand\n\u003c/PRED\u003e","video":"7165450203021692176.mp4"}
+{"uid":"7158532706920432127","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"16316796057574816557.mp4"}
+{"uid":"17533693796267065545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15391741955148859786.mp4"}
+{"uid":"2573674838123288254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10993397733307179176.mp4"}
+{"uid":"5056483638233228346","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple on the table backside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar 2- put the apple on the table backside Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple on the table backside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar 2- put the apple on the table backside Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8402709138703839008.mp4"}
+{"uid":"13632241733858740691","text":"\u003ctask:success:discrete:False\u003e\nPlace the apple 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: Place the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple 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 apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar Q: immediate next step? \u003cPRED\u003eA: Place the apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: Place the apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on table 2- done\n\u003c/PRED\u003e","video":"9996579538417299658.mp4"}
+{"uid":"18397883261621048915","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl 8- Place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- Place an apple in the bowl 3- Place an apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl 8- Place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e","video":"11301673358638990035.mp4"}
+{"uid":"10384697509942289798","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- Place an apple in the bowl 3- Place an apple in the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an 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":"6774923095777084938.mp4"}
+{"uid":"529104008549764208","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- Place an apple in the bowl 3- Place an apple in the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e","video":"16171473909152121968.mp4"}
+{"uid":"3039641334968243457","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 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- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place 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- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"873874568466741783.mp4"}
+{"uid":"7779969184474283340","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar 2- place the apple 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 apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar 2- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"5131862987150935029.mp4"}
+{"uid":"1636230545083842907","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple on the table backside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar Q: immediate next step? \u003cPRED\u003eA: put the apple on the table backside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple on the table backside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple on the table backside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple on the table backside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table backside 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: put the apple on the table backside\n\u003c/PRED\u003e","video":"14000499012306324116.mp4"}
+{"uid":"18062580872164146980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9316619085113990200.mp4"}
+{"uid":"9339342775659639468","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"5479640604643428319.mp4"}
+{"uid":"17276992326336801003","text":"\u003ctask:success:discrete:True\u003e\nArrange the paper 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: Arrange the paper in the bowl\n\u003c/PRED\u003e","video":"6956162837752135283.mp4"}
+{"uid":"2741171520971937722","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the paper 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":"16429972177840474569.mp4"}
+{"uid":"10906335611979179898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the banana into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16110514093953301679.mp4"}
+{"uid":"12235510167711056112","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the apple from jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the apple from 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":"11660682042886889883.mp4"}
+{"uid":"6471021634005363033","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":"16388864291949864106.mp4"}
+{"uid":"4428758587410308996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the illy packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9820061313013708905.mp4"}
+{"uid":"2062537472165842132","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"17080272145857322768.mp4"}
+{"uid":"6753186560112823641","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- 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. 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- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull 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 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":"4714507914263061690.mp4"}
+{"uid":"3439967365393428791","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":"14857135135917896103.mp4"}
+{"uid":"6702969179371041075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17919859131625562994.mp4"}
+{"uid":"16237528275471356571","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"4762991894970962525.mp4"}
+{"uid":"17179283249026093561","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the apple out of the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the apple out of 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":"906376518854988749.mp4"}
+{"uid":"54118653955820400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"16995861085954926662.mp4"}
+{"uid":"6938830216556894116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow 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":"14170383692940653755.mp4"}
+{"uid":"9195436676124601493","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":"5920214259974554005.mp4"}
+{"uid":"953740378423111340","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the peel of banana in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the peel of banana in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper. last 20 steps: 1- Put the plastic packet in the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the peel of banana in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper Q: immediate next step? \u003cPRED\u003eA: Put the peel of banana in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the peel of banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the peel of banana in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper. last 20 steps: 1- Put the plastic packet in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the peel of banana in the dustbin 2- done\n\u003c/PRED\u003e","video":"10669967999943224832.mp4"}
+{"uid":"839995110340354318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange in a 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":"1219353767530392506.mp4"}
+{"uid":"2836415004189256061","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place 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: place 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- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the 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 the redbull can on the table\n\u003c/PRED\u003e","video":"14312604178827029050.mp4"}
+{"uid":"1272828920871113032","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":"8437749008614900834.mp4"}
+{"uid":"5372021321516676764","text":"\u003ctask:success:discrete:False\u003e\nPick the apple from 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: please remove the apple from the jar and place it on elio's desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the apple from jar 2- Place the apple on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the apple from 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: Pick the apple from jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: Pick the apple from jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the apple from jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the apple from jar\n\u003c/PRED\u003e","video":"5389149874873728823.mp4"}
+{"uid":"1387598295972359220","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick apple from 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: please remove the apple from the jar and place it on elio's desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick apple from the jar 2- Place the apple on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick apple from 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":"10574598093086995470.mp4"}
+{"uid":"2554092744352422484","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick apple from the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick apple from 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":"12184909769836469325.mp4"}
+{"uid":"11480063803851109516","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":"18399907320269066708.mp4"}
+{"uid":"13747497684015878709","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"17473684224744805195.mp4"}
+{"uid":"17491815641184298746","text":"\u003ctask:success:discrete:False\u003e\nPut the plastic packet in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the plastic packet in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic packet in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic packet in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic packet in the dustbin 2- Put the peel of banana in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic packet in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper Q: immediate next step? \u003cPRED\u003eA: Put the plastic packet in the dustbin\n\u003c/PRED\u003e","video":"16341276808820348292.mp4"}
+{"uid":"12783060163769680647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop candy in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3905707074251069913.mp4"}
+{"uid":"10721101257766892600","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:planning:freeform\u003e\ncurrent goal is: please 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: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the 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- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"7040231346761732529.mp4"}
+{"uid":"8269430816336295692","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- 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- put the red bull can on the table 4- 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- put the red bull can on the table 2- 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: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: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":"18394234262226542126.mp4"}
+{"uid":"15810800338137056145","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- Place an apple in the bowl 3- Place an apple in the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl\n\u003c/PRED\u003e","video":"12709929955271882552.mp4"}
+{"uid":"6405231993413393331","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull 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- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place 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: place the redbull can on the table\n\u003c/PRED\u003e","video":"4143712022099777238.mp4"}
+{"uid":"6555736641945935585","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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table 3- put the red bull 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- done\n\u003c/PRED\u003e","video":"1978109279502262431.mp4"}
+{"uid":"945930087879592588","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":"17120174067616954746.mp4"}
+{"uid":"5146766103085635545","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: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: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 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- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull 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 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: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","video":"91343742406559771.mp4"}
+{"uid":"8621947915244034013","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl 8- Place an apple in the bowl 9- Place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl 8- Place an apple in the bowl 9- Place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- Place an apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an 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":"6991197924922066964.mp4"}
+{"uid":"656148958296900078","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table 3- 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 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: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 remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table 3- 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- done\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":"10467646138351357007.mp4"}
+{"uid":"1248401117956339664","text":"\u003ctask:success:discrete:False\u003e\nPlace the box right side of 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: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the box right side of the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the box right side of the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the box right side of the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the box right side of the bowl 2- Place an apple in the bowl 3- Place an apple in the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the box right side of the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the box right side of the bowl\n\u003c/PRED\u003e","video":"18179071647364818028.mp4"}
+{"uid":"1715125028315443583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the 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":"16467805151895078386.mp4"}
+{"uid":"4776650630568869869","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":"2077872406780994805.mp4"}
+{"uid":"8626182773338476129","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- Place an apple in the bowl 3- Place an apple in the bowl 4- Place an apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e","video":"1055436948229900422.mp4"}
+{"uid":"15295181002506226235","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar 2- Place the apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: 1- Pick the apple from jar 2- Place the apple on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the apple 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":"1524324386997940148.mp4"}
+{"uid":"4602251255178801862","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":"175933081723414711.mp4"}
+{"uid":"7518663597122811684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"7882558055616109467.mp4"}
+{"uid":"10266005727004118051","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic packet in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic packet in the dustbin\n\u003c/PRED\u003e","video":"15727329356816910380.mp4"}
+{"uid":"13613714165993941862","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":"15759557793210497512.mp4"}
+{"uid":"10936085910780295593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2882628708800202453.mp4"}
+{"uid":"14769368810174765275","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: none Q: immediate next step? \u003cPRED\u003eA: place 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: place the redbull can on the table\n\u003c/PRED\u003e","video":"1329886767432499434.mp4"}
+{"uid":"2650588124685446930","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- Place an apple in the bowl 3- Place an apple in the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an 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":"13321684564667733301.mp4"}
+{"uid":"13184395554542827364","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8838191483777492818.mp4"}
+{"uid":"5559704671357730727","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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- put the red bull can on the table 2- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put the red bull can on the table 2- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"2983837872272098491.mp4"}
+{"uid":"11501395161481132876","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl 8- Place an apple in the bowl 9- Place an apple in the bowl 10- Place an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl 6- Place an apple in the bowl 7- Place an apple in the bowl 8- Place an apple in the bowl 9- Place an apple in the bowl 10- Place an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple in the bowl\n\u003c/PRED\u003e","video":"5506213328603398347.mp4"}
+{"uid":"2268634324129869225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7498341619915090050.mp4"}
+{"uid":"968596816179836437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pouch 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":"11828287422258446022.mp4"}
+{"uid":"10150106841719482955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3732983580475552726.mp4"}
+{"uid":"15664690859039266681","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper 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: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper in the bowl 2- Arrange the paper in the bowl 3- Place the box right side of the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper 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":"17807867015020168126.mp4"}
+{"uid":"2226994681152300311","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":"3911175796034299823.mp4"}
+{"uid":"9792148198358479828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the small yellow packs Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8621491871429552640.mp4"}
+{"uid":"12403964230335139089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"17027484472212042511.mp4"}
+{"uid":"12309507865135026305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8497672243984923496.mp4"}
+{"uid":"12553119696130308304","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":"6826914531324766105.mp4"}
+{"uid":"15383954637056369310","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":"4646712249560254696.mp4"}
+{"uid":"5252511589649107369","text":"\u003ctask:success:discrete:False\u003e\nArrange the paper 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\nArrange the paper 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: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl Q: immediate next step? \u003cPRED\u003eA: Arrange the paper in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl. last 20 steps: 1- Place the paper in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the paper in the bowl 2- Place the box right side of the bowl 3- Place an apple in the bowl 4- Place an apple in the bowl 5- Place an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper lining to the bowl, then stock the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: Arrange the paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the paper in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the paper in the bowl\n\u003c/PRED\u003e","video":"4594593543900130972.mp4"}
+{"uid":"9104976186293615993","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":"11701461520369708109.mp4"}
+{"uid":"9618105601570929847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9381444277466037198.mp4"}
+{"uid":"6953843014442982486","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper. last 20 steps: 1- Put the plastic packet in the dustbin 2- Put the peel of banana in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the peel of banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my banana peel into the compost and trhow away my pb&j wrapper. last 20 steps: 1- Put the plastic packet in the dustbin 2- Put the peel of banana in the dustbin 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 peel of banana in the dustbin\n\u003c/PRED\u003e","video":"16399158659349334389.mp4"}
+{"uid":"11407742564063598143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput nuts 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":"2192980317323086167.mp4"}
+{"uid":"393696348585004005","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: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:planning:freeform\u003e\ncurrent goal is: please 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: please 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: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 can on the table 2- put the red bull can on the table 3- put the red bull can on the table 4- put the red bull 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: 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":"1760741179561028942.mp4"}
+{"uid":"16569876280460214013","text":"\u003ctask:success:discrete:False\u003e\npull the apple out of 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\npull the apple out of 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 remove the apple from the jar and place it on elio's desk Q: immediate next step? \u003cPRED\u003eA: pull the apple out of the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the apple out of the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the apple out of the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the apple out of the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the apple from the jar and place it on elio's desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the apple out of the jar 2- Place the apple on table 3- done\n\u003c/PRED\u003e","video":"3418897656558593326.mp4"}
+{"uid":"2518725213890960174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17144797533173568727.mp4"}
+{"uid":"9934241231137481943","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":"6171560597593211559.mp4"}
+{"uid":"169111864950395478","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the small plates on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: Put the small plates on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate 2- Put the purple plate on the stack 3- Put the hot pink plate on the stack 4- Put the baby pink plate on the stack Q: immediate next step? \u003cPRED\u003eA: Put the small plates on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the small plates on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the small plates on the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the small plates on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate 2- Put the purple plate on the stack 3- Put the hot pink plate on the stack 4- Put the baby pink plate on the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Put the small plates on the stack 2- done\n\u003c/PRED\u003e","video":"12423811599838889618.mp4"}
+{"uid":"3873959863956365728","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":"2284142924180267041.mp4"}
+{"uid":"3183887139804801943","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the apple on the table 2- place the orange on the table 3- place the apple on the table 4- place the apple on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e","video":"8594446958437458784.mp4"}
+{"uid":"17239200161932878365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the 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":"10832333829027347388.mp4"}
+{"uid":"13011116193769397423","text":"\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:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- Place the apple on the table 3- place the orange on the table 4- place the apple on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"5800204501588031944.mp4"}
+{"uid":"5897343268258378919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the refrigerator 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":"17910536193508859456.mp4"}
+{"uid":"8340956611821175425","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the purple plate on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate Q: immediate next step? \u003cPRED\u003eA: Put the purple plate on the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the purple plate on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the purple plate on the stack 2- Put the hot pink plate on the stack 3- Put the baby pink plate on the stack 4- Put the small plates on the stack 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: Put the purple plate on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the purple plate on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the purple plate on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6235824695956180822.mp4"}
+{"uid":"5288666239016871329","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- place the apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"18066111372709050444.mp4"}
+{"uid":"2515478883144186646","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1664081364562803966.mp4"}
+{"uid":"13379429576411289041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14018284096109017610.mp4"}
+{"uid":"4340318477376501035","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table 13- place the apple on the table 14- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple 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 apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table 13- place the apple on the table 14- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"11347400892014949694.mp4"}
+{"uid":"1434288773375136090","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the orange in the bowl 4- Put the 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: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"11575623016071990907.mp4"}
+{"uid":"9319212382175924773","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table 13- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table 13- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"8847356733076921883.mp4"}
+{"uid":"14781140008599821884","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the 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: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"7602236453654667456.mp4"}
+{"uid":"5009433668094044623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8591176486068434642.mp4"}
+{"uid":"4234944897875348143","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the apple on the table 3- place the apple on the table 4- place the apple on the table 5- done\n\u003c/PRED\u003e","video":"16271972094389084141.mp4"}
+{"uid":"12558176411914047354","text":"\u003ctask:success:discrete:False\u003e\nPut the hot pink plate on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the hot pink plate on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate 2- Put the purple plate on the stack Q: immediate next step? \u003cPRED\u003eA: Put the hot pink plate on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate 2- Put the purple plate on the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Put the hot pink plate on the stack 2- Put the baby pink plate on the stack 3- Put the small plates on the stack 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the hot pink plate on the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the hot pink plate on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: Put the hot pink plate on the stack\n\u003c/PRED\u003e","video":"15491348995189259163.mp4"}
+{"uid":"8945254313547003294","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":"2102849472395429453.mp4"}
+{"uid":"3734142581144573766","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":"9974453045909033006.mp4"}
+{"uid":"6424350519421440472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper clip Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10628667242502812182.mp4"}
+{"uid":"13400833425929181275","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":"1831207338102692671.mp4"}
+{"uid":"7594518740492276776","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":"18373685349495228018.mp4"}
+{"uid":"16067272782582476570","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: Put the baby pink plate on the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the baby pink plate on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the baby pink plate on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate 2- Put the purple plate on the stack 3- Put the hot pink plate on the stack Q: immediate next step? \u003cPRED\u003eA: Put the baby pink plate on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: 1- Put the blue plate on the green plate 2- Put the purple plate on the stack 3- Put the hot pink plate on the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Put the baby pink plate on the stack 2- Put the small plates on the stack 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the baby pink plate on the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the baby pink plate on the stack\n\u003c/PRED\u003e","video":"271846374673147613.mp4"}
+{"uid":"7741106740531828554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fork in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5339067074422694369.mp4"}
+{"uid":"12361252127442579971","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":"261786742566492527.mp4"}
+{"uid":"14713218589568836285","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the orange on the table 3- Place the orange on the table 4- Place the apple on the table 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. 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: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"16531718004878420197.mp4"}
+{"uid":"5740128104299188655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"3214255998212268675.mp4"}
+{"uid":"3971275837611562749","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":"16676108101454729603.mp4"}
+{"uid":"18125231501040600966","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"14807436325625262755.mp4"}
+{"uid":"18308001280282783721","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":"11608850617584337842.mp4"}
+{"uid":"5234029033651324434","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":"5175236470587631401.mp4"}
+{"uid":"1386517377035053381","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the purple plate on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the purple plate on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3772578785379702480.mp4"}
+{"uid":"1476387650295417608","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the blue plate on the green plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the plates on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue plate on the green plate 2- Put the purple plate on the stack 3- Put the hot pink plate on the stack 4- Put the baby pink plate on the stack 5- Put the small plates on the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue plate on the green plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue plate on the green plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: Put the blue plate on the green plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue plate on the green plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue plate on the green plate\n\u003c/PRED\u003e","video":"8721181635720599529.mp4"}
+{"uid":"17277225427744147003","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"4192687178169783996.mp4"}
+{"uid":"7038648526021311367","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"551401503023860336.mp4"}
+{"uid":"13570968690892814930","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":"17369850378424965677.mp4"}
+{"uid":"12489860725209984616","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table 13- place the apple on the table 14- place the apple on the table 15- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl 9- Place the orange on the table 10- Place the orange on the table 11- Place the apple on the table 12- place the orange on the table 13- place the apple on the table 14- place the apple on the table 15- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6327402557384353929.mp4"}
+{"uid":"10339545806423675736","text":"\u003ctask:success:discrete:True\u003e\nPlace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the apple on the table\n\u003c/PRED\u003e","video":"9246007016583993328.mp4"}
+{"uid":"17229467168258569005","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Put the orange in the bowl 3- Put the orange in the bowl 4- Place the orange on the table 5- Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: 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: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: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. 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: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"17591531571697492319.mp4"}
+{"uid":"13536858635897826394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17669652007228406298.mp4"}
+{"uid":"8041810572658760657","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the orange in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"3548985613578626785.mp4"}
+{"uid":"7568449393606888292","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":"4750295710665801845.mp4"}
+{"uid":"6583676594862681513","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the 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- Place the orange on the table 4- Place the orange on the table 5- Place the apple on the table\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: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the 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 remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"9715418305793882210.mp4"}
+{"uid":"15675415602292401570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3770537891719333824.mp4"}
+{"uid":"3320606981859749031","text":"\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:planning:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- Place the orange on the table 3- Place the apple on the table 4- place the orange on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruts from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask: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","video":"11588119738922764355.mp4"}
+{"uid":"9123712360691631321","text":"\u003ctask:success:discrete:True\u003e\nPut the blue plate on the green plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue plate on the green plate\n\u003c/PRED\u003e","video":"13195148974132596265.mp4"}
+{"uid":"14219181055407300282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange plate in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7155484292788827215.mp4"}
+{"uid":"10213511740628837068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"6936446174837548388.mp4"}
+{"uid":"6591748303051715749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7224455745027134388.mp4"}
+{"uid":"3849969739328355184","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\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","video":"12025801898846920766.mp4"}
+{"uid":"7420756733960702272","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"264171668118414588.mp4"}
+{"uid":"16199706084678442236","text":"\u003ctask:success:discrete:False\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put notebook in the almirah 2- put notebook in the almirah 3- put notebook in the almirah 4- put notebook in the almirah 5- put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput notebook in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e","video":"18282300167690125445.mp4"}
+{"uid":"14661557291754113954","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of golden chai Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 box of golden chai Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of golden chai 2- put box in stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e","video":"16432717582713041432.mp4"}
+{"uid":"9580589944643203013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7077157082981306997.mp4"}
+{"uid":"16096717054328790263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10186824691479047863.mp4"}
+{"uid":"5105231471610984644","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- Put the box in the stand 3- Pick up the box of white rose 4- Put the box in the stand 5- Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box 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 box in stand\n\u003c/PRED\u003e","video":"14315675364383938555.mp4"}
+{"uid":"14374267042469969743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet 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":"9624907413774218058.mp4"}
+{"uid":"411393314002408796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cup to the center 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":"13011029861356965552.mp4"}
+{"uid":"15664549080165149990","text":"\u003ctask:success:discrete:True\u003e\npickup the numi tea bag 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: pickup the numi tea bag box\n\u003c/PRED\u003e","video":"14652934956461459598.mp4"}
+{"uid":"5372455273516826358","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the numi tea bag box in the stand 2- Put the box of white rose in the stand 3- Pick up the box of ginger lemon 4- Put the box in the stand 5- Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the numi tea bag box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the numi tea bag box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"219962797782987735.mp4"}
+{"uid":"16963503942481828169","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue object on the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11123800876050250081.mp4"}
+{"uid":"2862748012710803594","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai 10- put box in stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai 10- put box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box 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":"1818415529020613821.mp4"}
+{"uid":"2379067272326392610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tray upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"878447991153643279.mp4"}
+{"uid":"4819060183530646202","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":"5593903727327204867.mp4"}
+{"uid":"11551134723516494988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"8054078885168294564.mp4"}
+{"uid":"12617124675292355146","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of white rose Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of white rose 2- Put the box in the stand 3- Pick up the box of golden chai 4- put box in stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of white rose Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e","video":"18024474557611054816.mp4"}
+{"uid":"5771922939259182325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"12628549448827886268.mp4"}
+{"uid":"2211854986666676617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3917353528413649354.mp4"}
+{"uid":"7390992432315137156","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":"18314286998027384376.mp4"}
+{"uid":"5612659049826957400","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- Put the box in the stand 3- Pick up the box of white rose 4- Put the box in the stand 5- Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4343862764768061735.mp4"}
+{"uid":"2411035345510882904","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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":"12170419732298507308.mp4"}
+{"uid":"11527473238684197077","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of chocolate pu reh 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Put the box of chocolate pu reh in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: Put the box of chocolate pu reh in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of chocolate pu reh in the stand 2- Put the box of white rose in the stand 3- Pick up the box of ginger lemon 4- Put the box in the stand 5- Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of chocolate pu reh in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of chocolate pu reh in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of chocolate pu reh in the stand\n\u003c/PRED\u003e","video":"2410670549741228365.mp4"}
+{"uid":"16075205972605225847","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8597597674150431974.mp4"}
+{"uid":"3101275350254727616","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put notebook in the almirah 2- put notebook in the almirah 3- put notebook in the almirah 4- put notebook in the almirah 5- close the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput notebook in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e","video":"9881099661189332411.mp4"}
+{"uid":"11246130032167778238","text":"\u003ctask:success:discrete:True\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"15823666120622475983.mp4"}
+{"uid":"799420476383182064","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6485351171582482325.mp4"}
+{"uid":"8001261972238617837","text":"\u003ctask:success:discrete:True\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 notebook in the almirah\n\u003c/PRED\u003e","video":"18446591342214109674.mp4"}
+{"uid":"9118262798873127654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box 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":"6999138289965386081.mp4"}
+{"uid":"7497194971343350237","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green Q: next 5 steps? \u003cPRED\u003eA: 1- Place the numi tea bag box in the stand 2- Place the numi tea bag box in the stand 3- Put the box of white rose in the stand 4- Pick up the box of ginger lemon 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the numi tea bag box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the numi tea bag box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"4551443563678130818.mp4"}
+{"uid":"16255873592318923344","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- Place the numi tea bag box in the stand 3- Put the box of white rose in the stand 4- Pick up the box of ginger lemon 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the numi tea bag box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the numi tea bag box 2- Place the numi tea bag box in the stand 3- Put the box of white rose in the stand 4- Pick up the box of ginger lemon 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the numi tea bag 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":"5023954282393005480.mp4"}
+{"uid":"16545384384223732016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput sheets in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1501737662177907323.mp4"}
+{"uid":"15387932490720800534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the hint bottle 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":"10801395387222101447.mp4"}
+{"uid":"13845782488923817678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the snack 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":"15440027283783417890.mp4"}
+{"uid":"12537992380676881566","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":"1990686303838628434.mp4"}
+{"uid":"13620168815012124828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15606760166565386813.mp4"}
+{"uid":"13898947165657353172","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sheets in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put sheets in the almirah 2- put sheets in the almirah 3- put notebook in the almirah 4- put notebook in the almirah 5- put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sheets in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18120755191177763105.mp4"}
+{"uid":"13042678910641129089","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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:success:discrete:False\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- Put the box of white rose in the stand 3- Pick up the box of ginger lemon 4- Put the box in the stand 5- Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"12180538250585166232.mp4"}
+{"uid":"2234520121433627583","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":"15840654298987922540.mp4"}
+{"uid":"13347554964405994094","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the numi tea bag 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":"15756305750417850811.mp4"}
+{"uid":"10224095540725553903","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":"8113483184564603376.mp4"}
+{"uid":"15419011223633045628","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":"15441631560037279514.mp4"}
+{"uid":"17492366698461288526","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput notebook in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put notebook in the almirah 2- put notebook in the almirah 3- close the almirah 4- done\n\u003c/PRED\u003e","video":"11974187928507496867.mp4"}
+{"uid":"14055987155755584391","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sheets in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put sheets in the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sheets in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5083479007006098135.mp4"}
+{"uid":"283189342737155866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  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":"15233778697606249180.mp4"}
+{"uid":"661186942114912410","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":"14067831502052859463.mp4"}
+{"uid":"9837002909466406757","text":"\u003ctask:success:discrete:True\u003e\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai 10- Place the numi tea bag box in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai 10- Place the numi tea bag box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"589340033202038960.mp4"}
+{"uid":"10993432251772141963","text":"\u003ctask:success:discrete:True\u003e\nput sheets in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sheets in the almirah\n\u003c/PRED\u003e","video":"10423469139949258416.mp4"}
+{"uid":"14581001575452919312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the key on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14648224267002478836.mp4"}
+{"uid":"17609465093040748622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup 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":"7234126224749783955.mp4"}
+{"uid":"12050918096914358760","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: immediate next step? \u003cPRED\u003eA: Pick up the box of ginger lemon\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of ginger lemon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of ginger lemon 2- Put the box in the stand 3- Pick up the box of white rose 4- Put the box in the stand 5- Pick up the box of golden chai\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of ginger lemon\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of ginger lemon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of ginger lemon\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of ginger lemon\n\u003c/PRED\u003e","video":"12162031464598105074.mp4"}
+{"uid":"12791174967167687518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8971654701310136699.mp4"}
+{"uid":"16993274786648763348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box 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":"14557517619615190090.mp4"}
+{"uid":"7090829871905156777","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e","video":"12438998781801215003.mp4"}
+{"uid":"15399827824188417637","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- Pick up the box of golden chai 3- put box in stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"3599604351986715673.mp4"}
+{"uid":"7982551461666555603","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":"13102830822446437634.mp4"}
+{"uid":"6842035091608019256","text":"\u003ctask:success:discrete:True\u003e\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"12653731302461444284.mp4"}
+{"uid":"2285123887778583899","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sheets in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put sheets in the almirah 2- put notebook in the almirah 3- put notebook in the almirah 4- put notebook in the almirah 5- put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sheets in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e","video":"4575550400040142798.mp4"}
+{"uid":"11060439510699056473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sanitizer 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":"5907840574744362073.mp4"}
+{"uid":"1640218340220492081","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the numi tea bag box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the numi tea bag box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the numi tea bag box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e","video":"16704972770000685845.mp4"}
+{"uid":"2654662973999001790","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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":"8699110580045526365.mp4"}
+{"uid":"6344006338519503442","text":"\u003ctask:success:discrete:False\u003e\nPlace the numi tea bag box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the numi tea bag box in the stand 2- Pick up the box of ginger lemon 3- Put the box in the stand 4- Pick up the box of white rose 5- Put the box in the stand\n\u003c/PRED\u003e","video":"5490673232152397012.mp4"}
+{"uid":"14498926940030250683","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put sheets in the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put notebook in the almirah 5- put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sheets in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 sheets in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah Q: immediate next step? \u003cPRED\u003eA: put sheets in the almirah\n\u003c/PRED\u003e","video":"15132706305596675415.mp4"}
+{"uid":"3263193586317992734","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of gunpowder green Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of gunpowder green Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16042746847221497182.mp4"}
+{"uid":"15124010229081773007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"9722807585561113323.mp4"}
+{"uid":"12223214194220890664","text":"\u003ctask:success:discrete:False\u003e\nput box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- Pick up the box of ginger lemon 3- Put the box in the stand 4- Pick up the box of white rose 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box 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 box in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"10261963429807343427.mp4"}
+{"uid":"12462158585921129497","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box 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":"6060424582724000625.mp4"}
+{"uid":"8658606905326059880","text":"\u003ctask:success:discrete:True\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"15065125854159216682.mp4"}
+{"uid":"6835840484144948748","text":"\u003ctask:success:discrete:True\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 notebook in the almirah\n\u003c/PRED\u003e","video":"15038975070869480597.mp4"}
+{"uid":"4573399031870513192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy 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":"8095486291042950897.mp4"}
+{"uid":"5389857598583513098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon Q: next 5 steps? \u003cPRED\u003eA: 1- Place the numi tea bag box in the stand 2- Pick up the box of white rose 3- Put the box in the stand 4- Pick up the box of golden chai 5- put box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the numi tea bag box 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 the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the numi tea bag box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"1221561153999917266.mp4"}
+{"uid":"3689459926047712763","text":"\u003ctask:success:discrete:True\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"252709479970446498.mp4"}
+{"uid":"9602276829511543448","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the numi tea bag box 2- Pick up the box of white rose 3- Put the box in the stand 4- Pick up the box of golden chai 5- put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the numi tea bag 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\npickup the numi tea bag box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e","video":"13894215477072412788.mp4"}
+{"uid":"7478741877957231961","text":"\u003ctask:success:discrete:True\u003e\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"14303848158881259059.mp4"}
+{"uid":"1379109245123774101","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up box 2- put box in stand 3- done\n\u003c/PRED\u003e","video":"4715338462176401543.mp4"}
+{"uid":"2075782717760287572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the doors 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":"6438668240285329602.mp4"}
+{"uid":"17426715814810332111","text":"\u003ctask:success:discrete:True\u003e\nPut the box of chocolate pu reh in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of chocolate pu reh in the stand\n\u003c/PRED\u003e","video":"8371651661881876878.mp4"}
+{"uid":"14523445422039993459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9764450538213897258.mp4"}
+{"uid":"446175146975054006","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":"14650797090756806622.mp4"}
+{"uid":"3623277637778996720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2543442659663927800.mp4"}
+{"uid":"6036542930513340722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"257401946522937027.mp4"}
+{"uid":"16457710447839592555","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- Place the numi tea bag box in the stand 3- Put the box of white rose in the stand 4- Pick up the box of ginger lemon 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"6407904498923453472.mp4"}
+{"uid":"10537867344901596402","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah 10- put notebook in the almirah 11- put notebook in the almirah 12- close the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah 10- put notebook in the almirah 11- put notebook in the almirah 12- close the almirah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16375555215137867693.mp4"}
+{"uid":"5211082725598865961","text":"\u003ctask:success:discrete:False\u003e\npickup the numi tea bag box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the numi tea bag box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand Q: immediate next step? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the numi tea bag box 2- Pick up the box of golden chai 3- put box in stand 4- done\n\u003c/PRED\u003e","video":"16378183544982319909.mp4"}
+{"uid":"314348278373483766","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the numi tea bag box 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":"9460338832446700816.mp4"}
+{"uid":"8007464775458465635","text":"\u003ctask:success:discrete:True\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"3880894560553325663.mp4"}
+{"uid":"17449491973197514725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the top left 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":"14688121151275770814.mp4"}
+{"uid":"9971315067148605515","text":"\u003ctask:success:discrete:True\u003e\nPick up the box of ginger lemon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 box of ginger lemon\n\u003c/PRED\u003e","video":"13701340509473216234.mp4"}
+{"uid":"9010091791081698671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio 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":"12018083701594300738.mp4"}
+{"uid":"2000561053371861496","text":"\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"15006671416649109417.mp4"}
+{"uid":"2847514552256602567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep two pens in 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"11846901700196570000.mp4"}
+{"uid":"2445456361985842402","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- Pick up the box of white rose 3- Put the box in the stand 4- Pick up the box of golden chai 5- put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"16260278821115716184.mp4"}
+{"uid":"5531836542037542562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the trolley 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":"2339703806761517493.mp4"}
+{"uid":"6443194505152186927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass 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":"183284965135379264.mp4"}
+{"uid":"3848383903716485739","text":"\u003ctask:success:discrete:True\u003e\nPut the box of white rose in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box of white rose in the stand\n\u003c/PRED\u003e","video":"17925205808007408212.mp4"}
+{"uid":"11380458478884123210","text":"\u003ctask:success:discrete:False\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put notebook in the almirah 2- put notebook in the almirah 3- put notebook in the almirah 4- put notebook in the almirah 5- put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput notebook in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e","video":"12005315982596125760.mp4"}
+{"uid":"9348596757437441202","text":"\u003ctask:success:discrete:True\u003e\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"10994204778704518753.mp4"}
+{"uid":"17854035629439201825","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box 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":"8752697481574647445.mp4"}
+{"uid":"10750660304419677953","text":"\u003ctask:success:discrete:False\u003e\nput box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e","video":"16497366172009222498.mp4"}
+{"uid":"17453190735801022979","text":"\u003ctask:success:discrete:True\u003e\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"881106615699696545.mp4"}
+{"uid":"13766360362837376322","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box in the stand 2- Pick up the box of golden chai 3- put box in stand 4- done\n\u003c/PRED\u003e","video":"14769135316324645767.mp4"}
+{"uid":"706293687581408621","text":"\u003ctask:success:discrete:False\u003e\nPut the box 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:success:discrete:True\u003e\nPick up the box of gunpowder green Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box in the stand 2- Place the numi tea bag box in the stand 3- Put the box of white rose in the stand 4- Pick up the box of ginger lemon 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the box of gunpowder green\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e","video":"6862239611048968008.mp4"}
+{"uid":"11621786139996995314","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose Q: next 5 steps? \u003cPRED\u003eA: 1- Place the numi tea bag box in the stand 2- Pick up the box of golden chai 3- put box in stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the numi tea bag box 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\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"14598366698574502253.mp4"}
+{"uid":"5516502506649849120","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box in the stand 2- Pick up the box of white rose 3- Put the box in the stand 4- Pick up the box of golden chai 5- put box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon Q: immediate next step? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e","video":"8494055426677693701.mp4"}
+{"uid":"13793411795410989854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the laptop cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15745159348069661162.mp4"}
+{"uid":"5669409695921942332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green 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":"14359227377029722087.mp4"}
+{"uid":"15235036781395958060","text":"\u003ctask:success:discrete:True\u003e\npick up box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up box\n\u003c/PRED\u003e","video":"13003609093182625148.mp4"}
+{"uid":"11238321813286678656","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah 10- put notebook in the almirah 11- put notebook in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- close the almirah 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah 10- put notebook in the almirah 11- put notebook in the almirah Q: immediate next step? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e","video":"10004163821705121448.mp4"}
+{"uid":"17067856083242416909","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose Q: next 5 steps? \u003cPRED\u003eA: 1- put box in stand 2- Pick up the box of golden chai 3- put box in stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose Q: immediate next step? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box 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":"3328279372516459528.mp4"}
+{"uid":"6349202844369475169","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput notebook in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah 10- put notebook in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put notebook in the almirah 2- close the almirah 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah 9- put notebook in the almirah 10- put notebook in the almirah Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e","video":"6708695669514474952.mp4"}
+{"uid":"10219084178551730378","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the numi tea bag box 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: Place the numi tea bag box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the numi tea bag box 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- Pick up the box of golden chai Q: next 5 steps? \u003cPRED\u003eA: 1- Place the numi tea bag box in the stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Place the numi tea bag box in the stand\n\u003c/PRED\u003e","video":"226288858803159552.mp4"}
+{"uid":"10184534014355706821","text":"\u003ctask:success:discrete:True\u003e\nPut the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box in the stand\n\u003c/PRED\u003e","video":"5624437992577703269.mp4"}
+{"uid":"5386598670386039127","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put notebook in the almirah 2- put notebook in the almirah 3- put notebook in the almirah 4- close the almirah 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet. last 20 steps: 1- open the almirah 2- put sheets in the almirah 3- put sheets in the almirah 4- put sheets in the almirah 5- put sheets in the almirah 6- put notebook in the almirah 7- put notebook in the almirah 8- put notebook in the almirah Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the writing pads and the notebooks into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put notebook in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput notebook in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 notebook in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2326298184258182506.mp4"}
+{"uid":"11594215539525350020","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand Q: immediate next step? \u003cPRED\u003eA: Put the box of white rose in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: Put the box of white rose in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box of white rose in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box of white rose 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: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box of white rose in the stand 2- Pick up the box of ginger lemon 3- Put the box in the stand 4- Pick up the box of white rose 5- Put the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box of white rose in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box of white rose in the stand\n\u003c/PRED\u003e","video":"244686104535320386.mp4"}
+{"uid":"6185760970122846966","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":"1206417570692722331.mp4"}
+{"uid":"8833657193324826469","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom 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":"2865154665881950128.mp4"}
+{"uid":"14769221322706222450","text":"\u003ctask:success:discrete:True\u003e\npickup the numi tea bag 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:planning:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- pickup the numi tea bag box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a box of numi tea into each empty slot on the bottom row and 2 in the middle row. last 20 steps: 1- Pick up the box of gunpowder green 2- Put the box in the stand 3- Place the numi tea bag box in the stand 4- Put the box of white rose in the stand 5- Pick up the box of ginger lemon 6- Put the box in the stand 7- Pick up the box of white rose 8- Put the box in the stand 9- pickup the numi tea bag box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the numi tea bag box\n\u003c/PRED\u003e","video":"599869104714828234.mp4"}