diff --git "a/json/train/data-00037-of-00160.json" "b/json/train/data-00037-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00037-of-00160.json"
@@ -0,0 +1,138 @@
+{"uid":"10862232397098601754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"5107908068867800754.mp4"}
+{"uid":"7617934427337153688","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- place the c2o tin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the c2o tin on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- place the c2o tin on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the c2o tin 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":"11098061968916000308.mp4"}
+{"uid":"9352953041893150466","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":"12375835753112380646.mp4"}
+{"uid":"13938229457676960025","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table 16- move towards the cable Q: immediate next step? \u003cPRED\u003eA: grasp the cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table 16- move towards the cable Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the cable 2- pick the cable 3- drop the cable into the plastic basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: grasp the cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10865256653546752725.mp4"}
+{"uid":"6724935814478212682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4562812599613933335.mp4"}
+{"uid":"16290070927798284961","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table 16- move towards the cable 17- grasp the cable 18- pick the cable Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cable into the plastic basket 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: drop the cable into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cable into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cable into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cable into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table 16- move towards the cable 17- grasp the cable 18- pick the cable Q: immediate next step? \u003cPRED\u003eA: drop the cable into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cable into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4114885356759666075.mp4"}
+{"uid":"3642269507283038236","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object into the plastic basket 2- pick the yellow packet 3- drop the yellow packet into the plastic basket 4- move towards the blue chocolate 5- pick the blue chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black object into the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: drop the black object into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object Q: immediate next step? \u003cPRED\u003eA: drop the black object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17290033061982293304.mp4"}
+{"uid":"10236618860030823164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4415533700029632373.mp4"}
+{"uid":"1236950318438296969","text":"\u003ctask:success:discrete:False\u003e\npick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet 2- drop the yellow packet into the plastic basket 3- move towards the blue chocolate 4- pick the blue chocolate 5- drop the blue chocolate into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10212436769099774086.mp4"}
+{"uid":"13471904118824869227","text":"\u003ctask:success:discrete:True\u003e\nmove towards the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the cable\n\u003c/PRED\u003e","video":"3816060382362484500.mp4"}
+{"uid":"14906805103142576354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16496632819757751046.mp4"}
+{"uid":"3734815696728525396","text":"\u003ctask:success:discrete:True\u003e\npick the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue chocolate\n\u003c/PRED\u003e","video":"18422522141115885182.mp4"}
+{"uid":"17130190383751029087","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a cane on the table from the freezer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a cane on the table from the freezer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a cane on the table from the freezer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a cane on the table from the freezer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place a cane on the table from the freezer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a cane on the table from the freezer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a cane on the table from the freezer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16665812280992638345.mp4"}
+{"uid":"8411330417622285457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9800683459478626032.mp4"}
+{"uid":"12030399711015725793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brush into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3935163181791690215.mp4"}
+{"uid":"10384224865539136139","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15446176733784135695.mp4"}
+{"uid":"10337144257185330882","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- pick up the can Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18430078995348245456.mp4"}
+{"uid":"10386346444755212482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate crunch into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7140830001799461689.mp4"}
+{"uid":"3298629033602618324","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- put the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2452511501813667965.mp4"}
+{"uid":"935336858457270840","text":"\u003ctask:success:discrete:False\u003e\ndrop the coconut bottle into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle Q: immediate next step? \u003cPRED\u003eA: drop the coconut bottle into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coconut bottle into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: drop the coconut bottle into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coconut bottle into the plastic basket 2- go to the table 3- pick the pen 4- drop the pen into the plastic basket 5- move your arm towards the black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coconut bottle into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coconut bottle into the plastic basket\n\u003c/PRED\u003e","video":"1630549620976705473.mp4"}
+{"uid":"5753715111994853223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cart into the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2490589362107727194.mp4"}
+{"uid":"7078770828476483339","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the plastic basket 2- move your arm towards the black object 3- pick the black object 4- drop the black object into the plastic basket 5- pick the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4923525150516549462.mp4"}
+{"uid":"9508754356082456817","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table 2- pick the pen 3- drop the pen into the plastic basket 4- move your arm towards the black object 5- pick the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e","video":"2278372541629153185.mp4"}
+{"uid":"9264326789845445910","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e","video":"5156274951161722426.mp4"}
+{"uid":"4786774619690423097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the jar lid on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7505540776842726638.mp4"}
+{"uid":"9685776416221562400","text":"\u003ctask:success:discrete:True\u003e\npick the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cable\n\u003c/PRED\u003e","video":"5741612273558868128.mp4"}
+{"uid":"5816327854472260211","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the coconut bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the coconut bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table Q: immediate next step? \u003cPRED\u003eA: pick the coconut bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the coconut bottle 2- drop the coconut bottle into the plastic basket 3- go to the table 4- pick the pen 5- drop the pen into the plastic basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the coconut bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the coconut bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the coconut bottle\n\u003c/PRED\u003e","video":"4257386070438300415.mp4"}
+{"uid":"9020672537946150231","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the plastic basket\n\u003c/PRED\u003e","video":"7065067189704084506.mp4"}
+{"uid":"15863513935428013326","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket Q: immediate next step? \u003cPRED\u003eA: go towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- go towards the table 2- move towards the cable 3- grasp the cable 4- pick the cable 5- drop the cable into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: go towards the table\n\u003c/PRED\u003e","video":"15080753434990751300.mp4"}
+{"uid":"8151991279504357344","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the c2o tin from freze\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the c2o tin from freze Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- pick up the c2o tin from freze Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- pick up the c2o tin from freze Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9176577799674705710.mp4"}
+{"uid":"627496447022330439","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the c2o tin on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the c2o tin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 c2o tin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the c2o tin 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 go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the c2o tin on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the c2o tin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the c2o tin on the table\n\u003c/PRED\u003e","video":"11934393103372366186.mp4"}
+{"uid":"1005262191127404368","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table Q: immediate next step? \u003cPRED\u003eA: move towards the cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: move towards the cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the cable 2- grasp the cable 3- pick the cable 4- drop the cable into the plastic basket 5- done\n\u003c/PRED\u003e","video":"1124761423575833809.mp4"}
+{"uid":"1963721969980379171","text":"\u003ctask:success:discrete:True\u003e\npick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e","video":"3498234783003350089.mp4"}
+{"uid":"12734434412520495525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15197027134655680986.mp4"}
+{"uid":"13102905129180374142","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet into the plastic basket 2- move towards the blue chocolate 3- pick the blue chocolate 4- drop the blue chocolate into the plastic basket 5- go towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow packet into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet into the plastic basket\n\u003c/PRED\u003e","video":"12793619022203724809.mp4"}
+{"uid":"3215965523613962825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9651101682370930576.mp4"}
+{"uid":"17372978090560378386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a pink packet inside the organizer 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":"11489607155068361337.mp4"}
+{"uid":"5641591578078616585","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to an other room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to an other room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to an other room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to an other room 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to an other room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: move to an other room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to an other room\n\u003c/PRED\u003e","video":"1672450098849024471.mp4"}
+{"uid":"11621213017545018526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- move to an other room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to an other room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to an other room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- move to an other room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2787210584480096717.mp4"}
+{"uid":"13700250387303023203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue toffee 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":"15770457404895698997.mp4"}
+{"uid":"16302420476099940938","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm towards the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4223226782289866032.mp4"}
+{"uid":"5314328693892116300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the drawer of blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14911435254663520411.mp4"}
+{"uid":"7893474704219698844","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow packet into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow packet into the plastic basket\n\u003c/PRED\u003e","video":"15156034237219559948.mp4"}
+{"uid":"3988345401903396869","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate Q: immediate next step? \u003cPRED\u003eA: pick the blue chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the blue chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue chocolate 2- drop the blue chocolate into the plastic basket 3- go towards the table 4- move towards the cable 5- grasp the cable\n\u003c/PRED\u003e","video":"15625020817579817406.mp4"}
+{"uid":"10921540595649577097","text":"\u003ctask:success:discrete:False\u003e\ndrop the blue chocolate into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: drop the blue chocolate into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue chocolate into the plastic basket 2- go towards the table 3- move towards the cable 4- grasp the cable 5- pick the cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue chocolate into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue chocolate into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue chocolate into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate Q: immediate next step? \u003cPRED\u003eA: drop the blue chocolate into the plastic basket\n\u003c/PRED\u003e","video":"15306169854401118968.mp4"}
+{"uid":"2696368219941084069","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the blue chocolate 2- pick the blue chocolate 3- drop the blue chocolate into the plastic basket 4- go towards the table 5- move towards the cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket Q: immediate next step? \u003cPRED\u003eA: move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: move towards the blue chocolate\n\u003c/PRED\u003e","video":"14649628649160731261.mp4"}
+{"uid":"5238731368792586888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12180870049902778104.mp4"}
+{"uid":"5405244569935886380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"94572970723097630.mp4"}
+{"uid":"17640204199871225068","text":"\u003ctask:success:discrete:False\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object 2- drop the black object into the plastic basket 3- pick the yellow packet 4- drop the yellow packet into the plastic basket 5- move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e","video":"6923542579069582757.mp4"}
+{"uid":"15086445341547987252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15770098324262974512.mp4"}
+{"uid":"11320672715365449895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1424377754713278884.mp4"}
+{"uid":"6182493791740449556","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e","video":"1823622625299211643.mp4"}
+{"uid":"17300084364546317508","text":"\u003ctask:success:discrete:True\u003e\ngrasp the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the cable\n\u003c/PRED\u003e","video":"9653651940443582695.mp4"}
+{"uid":"6102533978860920498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pear 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":"18345650819962119654.mp4"}
+{"uid":"12452592998689315619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14166089643820204674.mp4"}
+{"uid":"17718212941390866269","text":"\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- drop the pen into the plastic basket 3- move your arm towards the black object 4- pick the black object 5- drop the black object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"14473562690139187665.mp4"}
+{"uid":"6866898878280396505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the dairy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17333903271673315627.mp4"}
+{"uid":"1535582878450234738","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9307094166664549357.mp4"}
+{"uid":"9542821950305040832","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue chocolate into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue chocolate into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7923922997685259542.mp4"}
+{"uid":"2079183721096808694","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- open freze Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open freze\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen freze Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- open freze Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6562818840082409647.mp4"}
+{"uid":"9656291879148780355","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a cane on the table from the freezer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a cane on the table from the freezer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- place a cane on the table from the freezer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- place a cane on the table from the freezer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4148241885100740195.mp4"}
+{"uid":"9401389969515272155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12604238827628806150.mp4"}
+{"uid":"8751601224113756357","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":"13706857249649140933.mp4"}
+{"uid":"5649799556655533884","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table 16- move towards the cable 17- grasp the cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cable 2- drop the cable into the plastic basket 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: pick the cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket 7- move your arm towards the black object 8- pick the black object 9- drop the black object into the plastic basket 10- pick the yellow packet 11- drop the yellow packet into the plastic basket 12- move towards the blue chocolate 13- pick the blue chocolate 14- drop the blue chocolate into the plastic basket 15- go towards the table 16- move towards the cable 17- grasp the cable Q: immediate next step? \u003cPRED\u003eA: pick the cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cable\n\u003c/PRED\u003e","video":"8594994954085370595.mp4"}
+{"uid":"12184870178017281817","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the refridgerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the refridgerator 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the refridgerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the refridgerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the refridgerator\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the refridgerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open the refridgerator\n\u003c/PRED\u003e","video":"15303779848643716284.mp4"}
+{"uid":"14256742086788457265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"562683437507590990.mp4"}
+{"uid":"1235260637105751520","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14009082326910598543.mp4"}
+{"uid":"14321994517429411255","text":"\u003ctask:success:discrete:False\u003e\nopen freze Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open freze\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open freze\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open freze 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen freze Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open freze\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open freze\n\u003c/PRED\u003e","video":"11822857529957983932.mp4"}
+{"uid":"2419805881098885375","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. 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 go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk 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\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: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:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9120961432250580343.mp4"}
+{"uid":"17368203873990511080","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the blue chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the blue chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6209444467119350369.mp4"}
+{"uid":"18094137449974325848","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the c2o tin from freze\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the c2o tin from freze\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the c2o tin from freze Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 c2o tin from freze Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the c2o tin from freze\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the c2o tin from freze 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the c2o tin from freze\n\u003c/PRED\u003e","video":"5146260692992330688.mp4"}
+{"uid":"9534554811274771393","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the loose items on the desk into the bin on the floor. last 20 steps: 1- move your arm towards the table 2- pick the coconut bottle 3- drop the coconut bottle into the plastic basket 4- go to the table 5- pick the pen 6- drop the pen into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the black object 2- pick the black object 3- drop the black object into the plastic basket 4- pick the yellow packet 5- drop the yellow packet into the plastic basket\n\u003c/PRED\u003e","video":"10176817945035557661.mp4"}
+{"uid":"10175080743711374102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coconut bottle into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the coconut bottle into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9234822752485934476.mp4"}
+{"uid":"6693605933572503133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the orange snack pack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11948485327525325591.mp4"}
+{"uid":"5661930741444411479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13945252528510394779.mp4"}
+{"uid":"349161107609662004","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- open the refridgerator Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the refridgerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the refridgerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go to the mk, grab me a coconut water from the fridge and bring it to my desk. last 20 steps: 1- open the refridgerator Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"81791652532535482.mp4"}
+{"uid":"2014826051592919471","text":"\u003ctask:success:discrete:True\u003e\ndrop the black object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black object into the plastic basket\n\u003c/PRED\u003e","video":"13751390890935874522.mp4"}
+{"uid":"4925054512233863754","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e","video":"6298922708587416116.mp4"}
+{"uid":"10863689885796714364","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pencil in the stand 2- Close the pencil tray 3- Open the blue pen tray 4- Place the blue pens in the stand 5- Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pencil 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: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e","video":"9207969813502121760.mp4"}
+{"uid":"15231248232144848120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13461933945885920113.mp4"}
+{"uid":"18292541707575148318","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"251502485184250992.mp4"}
+{"uid":"7380677083645147455","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- Place the stand to right side on the rack 3- Close the pen tray 4- Place the pen stand on the table 5- Close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e","video":"4028485863149145342.mp4"}
+{"uid":"659110827003728584","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":"3025782552706679248.mp4"}
+{"uid":"6314197900099792639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7020064346720519973.mp4"}
+{"uid":"7566357557565811836","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen stand to left side on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pen stand to left side on the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen stand to left side on the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen stand to left side on the rack 2- Open the pencil tray 3- Place the pencil in the stand 4- Place the pencil in the stand 5- Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen stand to left side on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen stand to left side on the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door Q: immediate next step? \u003cPRED\u003eA: Place the pen stand to left side on the rack\n\u003c/PRED\u003e","video":"1477629214137188352.mp4"}
+{"uid":"11220286605474089937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12910806045796084806.mp4"}
+{"uid":"9199104048149742405","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13093554157888737946.mp4"}
+{"uid":"17642364605920018630","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":"109495168756410255.mp4"}
+{"uid":"15742007649276824664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2904676690017996778.mp4"}
+{"uid":"17791347534803571045","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray 17- Place the pen stand on the table Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray 17- Place the pen stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the door 2- Place the pen stand on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17843875135808318751.mp4"}
+{"uid":"465519233114342671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange clips 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":"1959173851328739101.mp4"}
+{"uid":"14421318889432056532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1149334130199122977.mp4"}
+{"uid":"15501023920858541051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the chair 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":"15927241817195907692.mp4"}
+{"uid":"5118114698970912617","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pens in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pens 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":"15299424328400614966.mp4"}
+{"uid":"15038784041458689684","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6590260903561075102.mp4"}
+{"uid":"8272986236969187807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10025837925331862845.mp4"}
+{"uid":"13831505179309781881","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- Put the blue pen in the holder 3- Put the pens in the holder 4- Put the holder in the cart 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e","video":"6481526180618718172.mp4"}
+{"uid":"10621302837815149088","text":"\u003ctask:success:discrete:True\u003e\nPut the pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e","video":"6407998648205400483.mp4"}
+{"uid":"18399691051113823697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17432741519181027180.mp4"}
+{"uid":"15884674273389044917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up red chip 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":"14854025473543600771.mp4"}
+{"uid":"18310168588011130099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 2 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":"17791644110173718262.mp4"}
+{"uid":"2602305384082858484","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the holder 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":"384875820559948712.mp4"}
+{"uid":"8513026549543170492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12061180136959329304.mp4"}
+{"uid":"12957006969977482310","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pens in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pens 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 blue pens in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray Q: immediate next step? \u003cPRED\u003eA: Place the blue pens in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pens in the stand 2- Place the blue pen in the stand 3- Place the blue pen in the stand 4- Place the blue pen in the stand 5- Place the stand to right side on the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pens 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: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the blue pens in the stand\n\u003c/PRED\u003e","video":"1478917902260375889.mp4"}
+{"uid":"14839257550297979949","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the stand to right side on the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place the stand to right side on the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the stand to right side on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the stand to right side on the rack 2- Close the pen tray 3- Place the pen stand on the table 4- Close the door 5- Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the stand to right side on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the stand to right side on the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the stand to right side on the rack\n\u003c/PRED\u003e","video":"5855796876354598999.mp4"}
+{"uid":"7743894647788330526","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray 17- Place the pen stand on the table 18- Close the door Q: immediate next step? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray 17- Place the pen stand on the table 18- Close the door Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen stand on the table 2- done\n\u003c/PRED\u003e","video":"5405551216976948047.mp4"}
+{"uid":"7314652590077430461","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Open the pencil tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Open the pencil tray 2- Place the pencil in the stand 3- Place the pencil in the stand 4- Place the pencil in the stand 5- Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the pencil tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the pencil tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack Q: immediate next step? \u003cPRED\u003eA: Open the pencil tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the pencil tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the pencil tray\n\u003c/PRED\u003e","video":"5110426989890432156.mp4"}
+{"uid":"14798243426059279103","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- Place the blue pen in the stand 3- Place the stand to right side on the rack 4- Close the pen tray 5- Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e","video":"4564529976473769566.mp4"}
+{"uid":"3383049143332077359","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15422951124323366413.mp4"}
+{"uid":"14844705968513152066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into 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":"8060071053931008532.mp4"}
+{"uid":"13630074370685881232","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray 17- Place the pen stand on the table 18- Close the door 19- Place the pen stand on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray 17- Place the pen stand on the table 18- Close the door 19- Place the pen stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen stand 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":"9478936806055279309.mp4"}
+{"uid":"16787714521411980644","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pens in the holder 2- Put the holder in the cart 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e","video":"13192145238087056548.mp4"}
+{"uid":"3549195901246171637","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the holder in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the blue pen in the holder 6- Put the pens in the holder 7- Put the holder in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the holder in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the blue pen in the holder 6- Put the pens in the holder 7- Put the holder in the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8456215724770277755.mp4"}
+{"uid":"15018826636616007024","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pencil in the stand 2- Place the pencil in the stand 3- Close the pencil tray 4- Open the blue pen tray 5- Place the blue pens in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pencil 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: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e","video":"13423070944157310612.mp4"}
+{"uid":"3642391335655660985","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- Put the blue pen in the holder 3- Put the blue pen in the holder 4- Put the pens in the holder 5- Put the holder in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e","video":"4931913772778849716.mp4"}
+{"uid":"16764158231597862143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8126983095911555150.mp4"}
+{"uid":"5746608137530004877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pad 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":"2771798110444574351.mp4"}
+{"uid":"12036770032713004886","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray Q: immediate next step? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack 16- Close the pen tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen stand on the table 2- Close the door 3- Place the pen stand on the table 4- done\n\u003c/PRED\u003e","video":"7788468235520422988.mp4"}
+{"uid":"16816192851357836923","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- Place the blue pen in the stand 3- Place the blue pen in the stand 4- Place the stand to right side on the rack 5- Close the pen tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e","video":"17480070644879446549.mp4"}
+{"uid":"5987646583014905363","text":"\u003ctask:success:discrete:False\u003e\nOpen the blue pen tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the blue pen tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray Q: next 5 steps? \u003cPRED\u003eA: 1- Open the blue pen tray 2- Place the blue pens in the stand 3- Place the blue pen in the stand 4- Place the blue pen in the stand 5- Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray Q: immediate next step? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e","video":"10367856329124217915.mp4"}
+{"uid":"5876380583814443416","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack Q: immediate next step? \u003cPRED\u003eA: Close the pen tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the pen tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the pen tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the pen tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the pen tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Close the pen tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand 9- Close the pencil tray 10- Open the blue pen tray 11- Place the blue pens in the stand 12- Place the blue pen in the stand 13- Place the blue pen in the stand 14- Place the blue pen in the stand 15- Place the stand to right side on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Close the pen tray 2- Place the pen stand on the table 3- Close the door 4- Place the pen stand on the table 5- done\n\u003c/PRED\u003e","video":"13202561251357876042.mp4"}
+{"uid":"13691987866091077316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a pink candy in right 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":"3765586322756714523.mp4"}
+{"uid":"1514835664271019754","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":"11288401954732716013.mp4"}
+{"uid":"17696124785139937503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15796964538955784915.mp4"}
+{"uid":"7205935265496818340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2979535594258899900.mp4"}
+{"uid":"4604760005258723578","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the blue pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"5197720574574346833.mp4"}
+{"uid":"11645546640576031402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"722779948141381530.mp4"}
+{"uid":"7282519681565940166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the gate of the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15695604742870174832.mp4"}
+{"uid":"1142579802314078904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3914653322915848952.mp4"}
+{"uid":"13147118469589778647","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the blue pen in the holder 6- Put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder in the cart 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the holder in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the holder in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the holder in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder 5- Put the blue pen in the holder 6- Put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the holder in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder in the cart\n\u003c/PRED\u003e","video":"134015349632309088.mp4"}
+{"uid":"14944824781295423936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7213674064846561024.mp4"}
+{"uid":"7715759176377548686","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pencil 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 pencil in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pencil in the stand 2- Place the pencil in the stand 3- Place the pencil in the stand 4- Place the pencil in the stand 5- Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pencil 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":"1163556384342213561.mp4"}
+{"uid":"13523700647253356882","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":"17739885257914590724.mp4"}
+{"uid":"7181529620754798454","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pencil 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 pencil in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pencil in the stand 2- Place the pencil in the stand 3- Place the pencil in the stand 4- Place the pencil in the stand 5- Close the pencil tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e","video":"5869550252498947670.mp4"}
+{"uid":"4537514687410441234","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Close the pencil tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the pencil tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand Q: immediate next step? \u003cPRED\u003eA: Close the pencil tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the pencil tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the pencil tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the pencil tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand 6- Place the pencil in the stand 7- Place the pencil in the stand 8- Place the pencil in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Close the pencil tray 2- Open the blue pen tray 3- Place the blue pens in the stand 4- Place the blue pen in the stand 5- Place the blue pen in the stand\n\u003c/PRED\u003e","video":"9152681529438789356.mp4"}
+{"uid":"12266281578225853120","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13642181052446230267.mp4"}
+{"uid":"7163060388061591271","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pencil 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 pencil in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Deliver five mechanical pencils and five blue pens to Steve's desk. last 20 steps: 1- Open the door 2- Place the pen stand to left side on the rack 3- Open the pencil tray 4- Place the pencil in the stand 5- Place the pencil in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pencil in the stand 2- Place the pencil in the stand 3- Place the pencil in the stand 4- Close the pencil tray 5- Open the blue pen tray\n\u003c/PRED\u003e","video":"12815572885924151335.mp4"}
+{"uid":"11933639598405519118","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- Put the pens in the holder 3- Put the holder in the cart 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the blue pen in the holder 4- Put the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blue pens away back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e","video":"14882666259666828564.mp4"}