diff --git "a/json/train/data-00038-of-00160.json" "b/json/train/data-00038-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00038-of-00160.json"
@@ -0,0 +1,811 @@
+{"uid":"6299356162089265120","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- put black pen in the holder 4- put black marker in the stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"14386224576913869201.mp4"}
+{"uid":"2278819957862015598","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":"1050269261664566740.mp4"}
+{"uid":"9720671034363788125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3230777927965046940.mp4"}
+{"uid":"15133253444227548061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10858839774907350347.mp4"}
+{"uid":"6976401003755981196","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5620343330036621896.mp4"}
+{"uid":"8749462472331958434","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put pen in the holder 3- put pen in the holder 4- put pen in the holder 5- put pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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 pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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 black pen in the holder\n\u003c/PRED\u003e","video":"11684197609321018012.mp4"}
+{"uid":"10363631949032144721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 5- Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \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","video":"3437357548206773198.mp4"}
+{"uid":"14803572545432747677","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the stationary holder 2- Put the pen in the gripper 3- Place the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the stationary 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 stationary holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e","video":"11018289450602135673.mp4"}
+{"uid":"15711065761148187147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15336250599069910356.mp4"}
+{"uid":"8442428564728395644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15698594633386509378.mp4"}
+{"uid":"14941214608451125218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17745303477631843946.mp4"}
+{"uid":"15144928330662402795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the battery in the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14766098073134224221.mp4"}
+{"uid":"10675124864039558526","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"5373743331591462918.mp4"}
+{"uid":"8037921673914005035","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 5- Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5686916210942800007.mp4"}
+{"uid":"5216846293578822195","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"4471680358746481954.mp4"}
+{"uid":"6454271458513470138","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- Put the pen in the stationary holder 3- Put the pen in the gripper 4- Place the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e","video":"14616153159662874571.mp4"}
+{"uid":"11357818168872191692","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- put pen in the holder 4- put pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"13048475534407587149.mp4"}
+{"uid":"737965889756287206","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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 pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder 6- put pen in the holder 7- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder 6- put pen in the holder 7- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put black marker in the stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"7393843016293618372.mp4"}
+{"uid":"16263535953755975796","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- Put the pen in the stationary holder 3- Put the pen in the gripper 4- Place the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask: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: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: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:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"5076596189481260509.mp4"}
+{"uid":"6093730295502706347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6097622482838492304.mp4"}
+{"uid":"2573862022549783303","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the gripper\n\u003c/PRED\u003e","video":"9787815157524054221.mp4"}
+{"uid":"11256713830831989010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10643002059924645484.mp4"}
+{"uid":"3433849706445898958","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- Put the pen in the gripper 3- Place the pen into the holder 4- done\n\u003c/PRED\u003e","video":"3294335770752029292.mp4"}
+{"uid":"12680998268436037983","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 5- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 5- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3276664653334177257.mp4"}
+{"uid":"14501687367770168762","text":"\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:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- Place the pen into the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16978955326153314205.mp4"}
+{"uid":"8618044214943492250","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- put pen in the holder 4- put black pen in the holder 5- put black marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"8849172858877264250.mp4"}
+{"uid":"2525179744623080473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3201469450759032819.mp4"}
+{"uid":"13950270383457119216","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e","video":"9690177569030158263.mp4"}
+{"uid":"14034703482591452553","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder 6- put pen in the holder 7- put pen in the holder 8- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black marker in the stand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder 6- put pen in the holder 7- put pen in the holder 8- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15641248535649340896.mp4"}
+{"uid":"4185912439218303686","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the gripper 2- Place the pen into the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the gripper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the gripper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the gripper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the gripper\n\u003c/PRED\u003e","video":"5572050315694493934.mp4"}
+{"uid":"10915980537252558201","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12551561327068445531.mp4"}
+{"uid":"7608001542926197092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the right most pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18314218863536284741.mp4"}
+{"uid":"18048941692782416333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the berry in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4300956376862267340.mp4"}
+{"uid":"1537097875297008422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wipes in the trollyS Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10921908255288554346.mp4"}
+{"uid":"11839293344239493553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput small cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3218337803167465194.mp4"}
+{"uid":"14135792671631368449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3758324267775813948.mp4"}
+{"uid":"772502538954298819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4875696000318292464.mp4"}
+{"uid":"18164468696838806779","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e","video":"15486837611170200582.mp4"}
+{"uid":"2971131208663178520","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 5- Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary 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 stationary holder\n\u003c/PRED\u003e","video":"137591398700346191.mp4"}
+{"uid":"3572166747876658245","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 5- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 5- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1932813504351024787.mp4"}
+{"uid":"7804282736014874744","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11853522984966299192.mp4"}
+{"uid":"12660738074352838352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake 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":"1963401592168171373.mp4"}
+{"uid":"1753030874095553112","text":"\u003ctask:success:discrete:True\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e","video":"10069628158151872148.mp4"}
+{"uid":"7682054595748796729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3989669075872758327.mp4"}
+{"uid":"9624194234302033409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13029919684864348875.mp4"}
+{"uid":"173309898513325194","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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 pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder 4- Put the pen in the gripper Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7893545098216219283.mp4"}
+{"uid":"9892849139178461613","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put purple marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put purple marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput purple marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: put purple marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put purple marker in the holder 2- put black pen in the holder 3- put pen in the holder 4- put pen in the holder 5- put pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput purple marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put purple marker in the holder\n\u003c/PRED\u003e","video":"13981488748456900753.mp4"}
+{"uid":"9027553182536186783","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8724752257771563971.mp4"}
+{"uid":"8708912288242938669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10540896892147985680.mp4"}
+{"uid":"435852755331120259","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e","video":"14629219204886972204.mp4"}
+{"uid":"6050024120801760366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2111717059422509961.mp4"}
+{"uid":"9350348324197101685","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- Put the pen in the gripper 3- Place the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 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:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"326982649121226671.mp4"}
+{"uid":"12794755043907314030","text":"\u003ctask:success:discrete:True\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e","video":"17848753565242756552.mp4"}
+{"uid":"13352590308822682482","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put blue marker in the holder\n\u003c/PRED\u003e","video":"11887262006650525287.mp4"}
+{"uid":"9906019105641440853","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- Place the pen into the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2572503500250773567.mp4"}
+{"uid":"16333222369299835488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black cloth in the right 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":"10057439760751520254.mp4"}
+{"uid":"14042129365343783778","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 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 pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder 6- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the pens and markers and place them back into the cup. last 20 steps: 1- put blue marker in the holder 2- put purple marker in the holder 3- put black pen in the holder 4- put pen in the holder 5- put pen in the holder 6- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put black pen in the holder 3- put black marker in the stand 4- done\n\u003c/PRED\u003e","video":"17833610104296705783.mp4"}
+{"uid":"15139004934847811169","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7099368694936575659.mp4"}
+{"uid":"1817374878292562334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4093615830024504631.mp4"}
+{"uid":"11310861548221018067","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the stationary holder 2- Put the pen in the stationary holder 3- Put the pen in the gripper 4- Place the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the black pens on the table and put them back into the pen holder. last 20 steps: 1- Put the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11224238044253094552.mp4"}
+{"uid":"10772741646411632158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3777171814466582388.mp4"}
+{"uid":"11966408479471560184","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the desk 2- Throw the pens on the desk from the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen on the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e","video":"11504635548995005642.mp4"}
+{"uid":"4267356551751110180","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place orange pens on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange pens on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange pens on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange pens on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: place orange pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17101689489397154924.mp4"}
+{"uid":"11513543054092108588","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10813400231955435617.mp4"}
+{"uid":"17191029802778796909","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: Throw the pens on the desk from the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the pens on the desk from the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the pens on the desk from the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the pens on the desk from the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: Throw the pens on the desk from the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the pens on the desk from the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the pens on the desk from the pen stand\n\u003c/PRED\u003e","video":"172429766032143741.mp4"}
+{"uid":"272593879190554370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7388140466065268610.mp4"}
+{"uid":"10366379540336455025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9932754603824085915.mp4"}
+{"uid":"7971143280826505043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chips packet into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6442730961938683349.mp4"}
+{"uid":"782243414746930505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15051621221603610188.mp4"}
+{"uid":"9663515465182838438","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen on the table 2- place blue pen on the table 3- Throw the pens on the desk from the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen 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 on the table\n\u003c/PRED\u003e","video":"2920924620715126421.mp4"}
+{"uid":"4095939535665874929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5759273510064745196.mp4"}
+{"uid":"6984863033069652837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the lucira 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":"13613622126402915827.mp4"}
+{"uid":"10120266763119252817","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- Throw the pens on the desk from the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6468115493546312914.mp4"}
+{"uid":"4592139430724564017","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen on the table 2- place blue pen on the table 3- Throw the pens on the desk from the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1563809207553311078.mp4"}
+{"uid":"5771424658841962666","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":"5274344042084381240.mp4"}
+{"uid":"10732852423284240965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the carbon box in the middle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8402110671504375648.mp4"}
+{"uid":"7005021099829306955","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the fridge left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the fridge left 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: get me a pepsi from the fridge and take it to my desk. last 20 steps: 1- open the fridge left door 2- place pepsi can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the fridge left door 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pepsi 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:success:discrete:False\u003e\nclose the fridge left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the fridge left door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take it to my desk Q: immediate next step? \u003cPRED\u003eA: close the fridge left door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take it to my desk. last 20 steps: 1- open the fridge left door 2- place pepsi can on the table Q: immediate next step? \u003cPRED\u003eA: close the fridge left door\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pepsi can on the table\n\u003c/PRED\u003e","video":"8352476526945944213.mp4"}
+{"uid":"3590960036481735212","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the desk 2- place blue pen on the table 3- Throw the pens on the desk from the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen on the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3854355700293616835.mp4"}
+{"uid":"15031656667916610974","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- Throw the pens on the desk from the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"2346865315476769157.mp4"}
+{"uid":"11860850707334923176","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table 5- Throw the pens on the desk from the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e","video":"1408181767565324422.mp4"}
+{"uid":"4431837800362003684","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table 5- Throw the pens on the desk from the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e","video":"7220134639386485920.mp4"}
+{"uid":"4321937500642090910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the glass in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1546675690020809463.mp4"}
+{"uid":"11292613715320622735","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen on the desk\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen on the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"182284710892420075.mp4"}
+{"uid":"5844076685891287624","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":"10754338426196193892.mp4"}
+{"uid":"18313391146011796198","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table 5- place orange pens 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 orange pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table 5- place orange pens on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10826874237862252939.mp4"}
+{"uid":"1372301770271827337","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table 5- Throw the pens on the desk from the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow the pens on the desk from the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- place blue pen on the table 5- Throw the pens on the desk from the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the pens on the desk from the pen stand\n\u003c/PRED\u003e","video":"11113728816464640085.mp4"}
+{"uid":"8699936184759473909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18389016195289815872.mp4"}
+{"uid":"3613076191347074170","text":"\u003ctask:success:discrete:True\u003e\nopen the fridge left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take it to my desk. last 20 steps: 1- open the fridge left door Q: next 5 steps? \u003cPRED\u003eA: 1- place pepsi can on the table 2- close the fridge left door 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take it to my desk Q: immediate next step? \u003cPRED\u003eA: place pepsi can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pepsi can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pepsi can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge left door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take it to my desk. last 20 steps: 1- open the fridge left door Q: immediate next step? \u003cPRED\u003eA: place pepsi can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pepsi 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\nplace pepsi 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":"11115648839922204693.mp4"}
+{"uid":"7111908614453425671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"85057922575483409.mp4"}
+{"uid":"13574908778831246655","text":"\u003ctask:success:discrete:False\u003e\nplace blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen on the table 2- Throw the pens on the desk from the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table 2- place blue pen on the table 3- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: place blue pen on the table\n\u003c/PRED\u003e","video":"11489993048400909411.mp4"}
+{"uid":"5899779368939312303","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take it to my desk. last 20 steps: 1- open the fridge left door 2- place pepsi can on the table 3- close the fridge left door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take it to my desk. last 20 steps: 1- open the fridge left door 2- place pepsi can on the table 3- close the fridge left door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a pepsi from the fridge and take 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: close the fridge left door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the fridge left 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":"17053482369016553267.mp4"}
+{"uid":"10823019095262937104","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen 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 on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen on the table 2- place blue pen on the table 3- place blue pen on the table 4- Throw the pens on the desk from the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place blue pen on the table Q: immediate next step? \u003cPRED\u003eA: Place the pen on the table\n\u003c/PRED\u003e","video":"13811947300654136046.mp4"}
+{"uid":"16728344873542095104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6188310410217108150.mp4"}
+{"uid":"2203285855123808195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7983426611555721755.mp4"}
+{"uid":"3569887909815136508","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the toffee in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the toffee in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the toffee in the jar 2- place the pink candy into the jar 3- place yellow candy into the jar 4- place yellow candy into the jar 5- done\n\u003c/PRED\u003e","video":"14876572972669089510.mp4"}
+{"uid":"6031014291867379104","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place the pink candy into the jar 4- place the pink candy into the jar 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"17476903951915204456.mp4"}
+{"uid":"1292142942853221797","text":"\u003ctask:success:discrete:False\u003e\nput the orange candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange candy in the jar 2- place yellow candy into the jar 3- place yellow candy into the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4170006966681377943.mp4"}
+{"uid":"8615807583046594164","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"2871148632721584935.mp4"}
+{"uid":"1861714897813820494","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1023568526974526123.mp4"}
+{"uid":"18282393589935141001","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the toffee in the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the toffee in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the toffee in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e","video":"16750325039333635732.mp4"}
+{"uid":"2673004666944362491","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5702415631043069092.mp4"}
+{"uid":"16850200597146106262","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the toffee in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the toffee in the jar 2- place yellow candy into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e","video":"12590243097000441766.mp4"}
+{"uid":"17882867459159805016","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange candy in the jar 2- place the pink candy into the jar 3- place the pink candy into the jar 4- place yellow candy into the jar 5- place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5101808310572766246.mp4"}
+{"uid":"540197817429815146","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy in the jar 2- place yellow candy into the jar 3- done\n\u003c/PRED\u003e","video":"5238809161129612201.mp4"}
+{"uid":"5312492112404064197","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nlower the arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nlower the arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: lower the arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lower the arm\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lower the arm\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- lower the arm 2- place the pink candy into the jar 3- place the pink candy into the jar 4- place yellow candy into the jar 5- place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: lower the arm\n\u003c/PRED\u003e","video":"11999452395500662882.mp4"}
+{"uid":"15873445498066658139","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the pink candy into the jar 3- place the pink candy into the jar 4- place the pink candy into the jar 5- place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"4815467405340482714.mp4"}
+{"uid":"8618775701652162202","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy in the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy in the jar\n\u003c/PRED\u003e","video":"15946081395774805151.mp4"}
+{"uid":"2998853171721067184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18405836200296343879.mp4"}
+{"uid":"3875880642472950816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop marker on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11676082915507909698.mp4"}
+{"uid":"13935499437777960073","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":"15247632353388864273.mp4"}
+{"uid":"11142163385453692040","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the toffee in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7153810713448366319.mp4"}
+{"uid":"4820993242739546485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet on upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10159281437437815564.mp4"}
+{"uid":"413347918214974426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12312125721542201636.mp4"}
+{"uid":"10463695072192018241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13113237850120600006.mp4"}
+{"uid":"5469869085117629074","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e","video":"15713748303456767269.mp4"}
+{"uid":"2078818249045632773","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow candy into the jar 2- place yellow candy into the jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e","video":"580221841340541031.mp4"}
+{"uid":"3010855301896898658","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":"11279189173623319679.mp4"}
+{"uid":"12093086310103850438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11043179594085089188.mp4"}
+{"uid":"11820360124693957109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14477300468382126474.mp4"}
+{"uid":"667187978296135561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9916460241827402241.mp4"}
+{"uid":"12868172980176867608","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place the pink candy into the jar 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"8388710469420294337.mp4"}
+{"uid":"14427510244410825000","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place the pink candy into the jar 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"9035720426861277172.mp4"}
+{"uid":"3722431548243862761","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place the pink candy into the jar\n\u003c/PRED\u003e","video":"13627194843127276519.mp4"}
+{"uid":"13330597922235652590","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":"1733757361060819688.mp4"}
+{"uid":"10895815548493810807","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place orange packet in the tray 3- place the pink candy into the jar 4- place the pink candy into the jar 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"7659481700171876837.mp4"}
+{"uid":"15782283379162911971","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the pink candy into the jar 3- place the pink candy into the jar 4- place yellow candy into the jar 5- place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"2390307847748323243.mp4"}
+{"uid":"15978199854621044813","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the jar 2- place yellow candy into the jar 3- place yellow candy into the jar 4- done\n\u003c/PRED\u003e","video":"9739385336584484663.mp4"}
+{"uid":"12595911922824873821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the white sticker cup near to green 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":"466350077473681742.mp4"}
+{"uid":"12264553947641466752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7453285607608444721.mp4"}
+{"uid":"3229797227116455542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7719608656521984987.mp4"}
+{"uid":"5744455147450581423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door of the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15743279138670556407.mp4"}
+{"uid":"9789571441488313375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1564481264188613238.mp4"}
+{"uid":"998633036691295115","text":"\u003ctask:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4368135130602085120.mp4"}
+{"uid":"445779874815776015","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow candy into the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e","video":"16942568325544212111.mp4"}
+{"uid":"9180096586005547733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pink packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3694152519312168601.mp4"}
+{"uid":"3381948800983464791","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange candy in the jar 2- place yellow candy into the jar 3- place yellow candy into the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the jar\n\u003c/PRED\u003e","video":"9494609805765308972.mp4"}
+{"uid":"11218633975324566718","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e","video":"7890399216306347958.mp4"}
+{"uid":"8823729207482569753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5622223713404382979.mp4"}
+{"uid":"5378506264453457476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the tea 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":"4238332792787977399.mp4"}
+{"uid":"16298300945318500393","text":"\u003ctask:success:discrete:True\u003e\nput the toffee in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar 12- put the toffee in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar 12- put the toffee in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7653495200446511481.mp4"}
+{"uid":"15070917046595481428","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":"14155405651813339870.mp4"}
+{"uid":"16092607762759259947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3910807608773092214.mp4"}
+{"uid":"433653865946218610","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place the pink candy into the jar 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"12267785474356004884.mp4"}
+{"uid":"9794687480428952120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the office Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"851766207528059652.mp4"}
+{"uid":"17404098686684918497","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1225417261344233717.mp4"}
+{"uid":"8229774908693829657","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the jar 2- place the pink candy into the jar 3- place yellow candy into the jar 4- place yellow candy into the jar 5- done\n\u003c/PRED\u003e","video":"5359910609528850561.mp4"}
+{"uid":"2064671852218006590","text":"\u003ctask:success:discrete:True\u003e\nplace yellow candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar 12- place yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar 12- place yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18441544457055235099.mp4"}
+{"uid":"5159925703478695460","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"8299085962988035165.mp4"}
+{"uid":"16409845534976788769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fork in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12705309697193346036.mp4"}
+{"uid":"12068478735575473311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17717817870642682775.mp4"}
+{"uid":"1340785505016024456","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":"3959798486976966383.mp4"}
+{"uid":"4671814391342416687","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place the pink candy into the jar 3- place the pink candy into the jar 4- place the pink candy into the jar 5- place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"477472541527858779.mp4"}
+{"uid":"14779966807438655670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13914193440700219947.mp4"}
+{"uid":"11951311428618855633","text":"\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"12116312532822446216.mp4"}
+{"uid":"16913255714034358356","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"12302538693932618410.mp4"}
+{"uid":"1582329546024293396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut clipper in the black 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":"12640015311225065470.mp4"}
+{"uid":"12974578475120004213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10778462596083995244.mp4"}
+{"uid":"8074292068197990889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13980203839884772027.mp4"}
+{"uid":"1375736021489188356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7777423363209180675.mp4"}
+{"uid":"9817878144935112758","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the toffee in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar 9- place the pink candy into the jar 10- place the pink candy into the jar 11- place yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the toffee in the jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e","video":"9654824317266689095.mp4"}
+{"uid":"12011106741782632763","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the jar 2- place the pink candy into the jar 3- place the pink candy into the jar 4- place yellow candy into the jar 5- place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e","video":"2272638743518222777.mp4"}
+{"uid":"9929767472521449433","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"630386650245957800.mp4"}
+{"uid":"13921068171168088527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove out of 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":"1169149358671584935.mp4"}
+{"uid":"14305208281387387950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16848091491489910249.mp4"}
+{"uid":"2916688213731592672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8025205914327340551.mp4"}
+{"uid":"2733199909284381190","text":"\u003ctask:success:discrete:True\u003e\nput the toffee in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e","video":"13683005743435666562.mp4"}
+{"uid":"2282953377108718820","text":"\u003ctask:success:discrete:True\u003e\nplace the pink candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e","video":"11808164183790526498.mp4"}
+{"uid":"4243201515040284720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2073912432094309881.mp4"}
+{"uid":"12145423055677401832","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11947872159442366223.mp4"}
+{"uid":"13052718778512278235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14542324392376858921.mp4"}
+{"uid":"9420802446260448990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8829308699221589710.mp4"}
+{"uid":"1065840920551425614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14356864669033134728.mp4"}
+{"uid":"5422695213278841466","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the toffee in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10247046204617084563.mp4"}
+{"uid":"16736478805117295080","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the pink candy into the jar 3- place the pink candy into the jar 4- place the pink candy into the jar 5- place yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"15388598676571518785.mp4"}
+{"uid":"15493828766350646059","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place orange packet in the tray 3- place the pink candy into the jar 4- place the pink candy into the jar 5- place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"10231679451021276001.mp4"}
+{"uid":"12849550817475856726","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"15518072357993627888.mp4"}
+{"uid":"13362895644771260848","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the toffee in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place orange packet in the tray 7- place orange packet in the tray 8- place the pink candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the toffee in the jar 2- place yellow candy into the jar 3- place yellow candy into the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the toffee in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the toffee in the jar\n\u003c/PRED\u003e","video":"9632360985908183266.mp4"}
+{"uid":"13705143343345705424","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16838739933485126087.mp4"}
+{"uid":"718502943862885637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6002228680214833331.mp4"}
+{"uid":"9005331414715553233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6914632730582047439.mp4"}
+{"uid":"18045095251402151353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3832149382710870220.mp4"}
+{"uid":"9469688782933487935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white duck toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16935867515502306459.mp4"}
+{"uid":"8955480665688896252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the file backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7296766977370886098.mp4"}
+{"uid":"8042780550925283856","text":"\u003ctask:success:discrete:True\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"7683569146136095441.mp4"}
+{"uid":"7668127312488284729","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the small orange object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the small orange object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the small orange object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the small orange object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the small orange object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton Q: immediate next step? \u003cPRED\u003eA: Put the small orange object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the small orange object in the box 2- put the orange object into the carton 3- put the marker in the box 4- Drop the bowl in box 5- place the bowl into the carton\n\u003c/PRED\u003e","video":"5406541910925948246.mp4"}
+{"uid":"17063694499503770144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"48790787807981554.mp4"}
+{"uid":"5634808026398574517","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":"13796089213601653217.mp4"}
+{"uid":"12719470558165613855","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box 11- Drop the black wire in box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box 11- Drop the black wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the black wire in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black wire in box\n\u003c/PRED\u003e","video":"12550539327699723950.mp4"}
+{"uid":"7044293898894104620","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange object into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the orange object into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange object into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange object into the carton 2- put the marker in the box 3- Drop the bowl in box 4- place the bowl into the carton 5- Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange object into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black object into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black object into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange object into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton Q: immediate next step? \u003cPRED\u003eA: put the orange object into the carton\n\u003c/PRED\u003e","video":"13000723809584860586.mp4"}
+{"uid":"1316110920870979873","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12714576841314914827.mp4"}
+{"uid":"5839137268616496890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9612907004753541907.mp4"}
+{"uid":"7040205821730325748","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- put the scotch brite in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the scotch brite in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- put the scotch brite in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scotch brite in the box\n\u003c/PRED\u003e","video":"14022067234305655214.mp4"}
+{"uid":"15225597842232112741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7502792148662201343.mp4"}
+{"uid":"13740579206233793483","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the regulator into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the regulator into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 regulator into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the regulator into the carton 2- place the black object into the carton 3- put the orange object into the carton 4- put the marker in the box 5- Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the regulator into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the regulator into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton Q: immediate next step? \u003cPRED\u003eA: place the regulator into the carton\n\u003c/PRED\u003e","video":"13402303796586294130.mp4"}
+{"uid":"2980383761802337948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1184351090778099846.mp4"}
+{"uid":"12259372124202882724","text":"\u003ctask:success:discrete:True\u003e\nDrop the orange wire in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange wire in the box.\n\u003c/PRED\u003e","video":"10871406712282599642.mp4"}
+{"uid":"3564365054472704870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12246367158178914994.mp4"}
+{"uid":"14271857567040973996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3170727453652193245.mp4"}
+{"uid":"18332945624858700476","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black cable into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box 11- place the black cable into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black cable into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box 11- place the black cable into the carton Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10494300619035708631.mp4"}
+{"uid":"16356666003279670106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white duck 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":"15900888025650936652.mp4"}
+{"uid":"5674814304209719554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the white paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"147107594621829951.mp4"}
+{"uid":"16380849956460751320","text":"\u003ctask:success:discrete:False\u003e\nplace the bowl into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box Q: immediate next step? \u003cPRED\u003eA: place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl into the carton 2- Drop the bowl in box 3- Put scrub in  box 4- Drop the black wire in box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl into the carton\n\u003c/PRED\u003e","video":"8509105167962173360.mp4"}
+{"uid":"11640080483283816481","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton\n\u003c/PRED\u003e","video":"3070600342183449841.mp4"}
+{"uid":"3259526138382012640","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the regulator into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the regulator into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2133482923860078000.mp4"}
+{"uid":"14298816729109367455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17390555253993662765.mp4"}
+{"uid":"9145308811636535192","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scotch brite in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box Q: next 5 steps? \u003cPRED\u003eA: 1- put the scotch brite in the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the scotch brite in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scotch brite in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scotch brite in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box Q: immediate next step? \u003cPRED\u003eA: put the scotch brite in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scotch brite in the box\n\u003c/PRED\u003e","video":"1292015818359334186.mp4"}
+{"uid":"18071585598318584879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"353564712928529357.mp4"}
+{"uid":"3742654399492428297","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the regulator in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton Q: immediate next step? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the regulator in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the regulator in the box 2- place the black object into the carton 3- put the orange object into the carton 4- put the marker in the box 5- Drop the bowl in box\n\u003c/PRED\u003e","video":"4220162647278084323.mp4"}
+{"uid":"6404568785428109234","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box Q: immediate next step? \u003cPRED\u003eA: Drop the black wire in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black wire in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the black wire in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black wire in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black wire in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black wire in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black wire in box 2- done\n\u003c/PRED\u003e","video":"3022361476057090594.mp4"}
+{"uid":"1163413169149779701","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the box 2- put the marker in the box 3- Drop the bowl in box 4- place the bowl into the carton 5- Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e","video":"2601599189882831709.mp4"}
+{"uid":"8260843821361909310","text":"\u003ctask:success:discrete:False\u003e\nDrop the orange wire in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange wire in the box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the orange wire in the box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange wire in the box. 2- place the regulator into the carton 3- place the black object into the carton 4- put the orange object into the carton 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange wire in the box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the orange wire in the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange wire in the box.\n\u003c/PRED\u003e","video":"431701356798365207.mp4"}
+{"uid":"8405056116410070980","text":"\u003ctask:success:discrete:True\u003e\nput the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e","video":"17633067061227110708.mp4"}
+{"uid":"10124340829419840315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4681154895751905492.mp4"}
+{"uid":"15940272784758601589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the top of exiting 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":"5128669529862330973.mp4"}
+{"uid":"14400343134555626399","text":"\u003ctask:success:discrete:True\u003e\nput the bowl in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e","video":"4982913967398418280.mp4"}
+{"uid":"1191376119722589871","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange cable into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton Q: immediate next step? \u003cPRED\u003eA: place the orange cable into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange cable into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange cable into the carton 2- place the regulator into the carton 3- place the black object into the carton 4- put the orange object into the carton 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange cable into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange cable into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the orange cable into the carton\n\u003c/PRED\u003e","video":"16180404618307024878.mp4"}
+{"uid":"17622769925489073844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen 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":"12426229260207154924.mp4"}
+{"uid":"16200628121010486469","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box 11- put the wire roll in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box 11- put the wire roll in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the wire roll in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the wire roll in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6156339598315380447.mp4"}
+{"uid":"13503766489526112795","text":"\u003ctask:success:discrete:True\u003e\nput the orange wire roll in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange wire roll in the box\n\u003c/PRED\u003e","video":"14087729849138069541.mp4"}
+{"uid":"5926810657687394541","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bowl in box 2- Put scrub in  box 3- Drop the black wire in box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bowl in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bowl in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton Q: immediate next step? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e","video":"17481191418335258657.mp4"}
+{"uid":"1339681296791430083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink candy 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":"12635719906459446559.mp4"}
+{"uid":"18145262727582307657","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the wire roll in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box Q: immediate next step? \u003cPRED\u003eA: put the wire roll in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box Q: next 5 steps? \u003cPRED\u003eA: 1- put the wire roll in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the wire roll in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the wire roll in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wire roll in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wire roll in the box\n\u003c/PRED\u003e","video":"2355022869745959301.mp4"}
+{"uid":"17336473323814563481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen from holder onto the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1744221701975046453.mp4"}
+{"uid":"15668547583749277469","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange object in the box 2- put the marker in the box 3- Drop the bowl in box 4- place the bowl into the carton 5- Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton Q: immediate next step? \u003cPRED\u003eA: put the orange object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the orange object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11239218303621484974.mp4"}
+{"uid":"16284144438697773000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14119344257500408276.mp4"}
+{"uid":"18179487267748812296","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put scrub in  box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put scrub in  box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put scrub in  box 2- Drop the black wire in box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut scrub in  box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box Q: immediate next step? \u003cPRED\u003eA: Put scrub in  box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put scrub in  box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut scrub in  box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8871974718802489457.mp4"}
+{"uid":"8808362422647473891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the box 2- Drop the bowl in box 3- Put scrub in  box 4- Drop the black wire in box 5- done\n\u003c/PRED\u003e","video":"13592031538396622418.mp4"}
+{"uid":"17644036629214267087","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange wire roll in the box 2- place the regulator into the carton 3- place the black object into the carton 4- put the orange object into the carton 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange wire roll in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton Q: immediate next step? \u003cPRED\u003eA: put the orange wire roll in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange wire roll in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the orange wire roll in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange wire roll in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange wire roll in the box\n\u003c/PRED\u003e","video":"9843872969822171069.mp4"}
+{"uid":"3266522505204415228","text":"\u003ctask:success:discrete:False\u003e\nplace the black cable into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box Q: next 5 steps? \u003cPRED\u003eA: 1- place the black cable into the carton 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black cable into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box 10- Put scrub in  box Q: immediate next step? \u003cPRED\u003eA: place the black cable into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black cable into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the black cable into the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black cable into the carton\n\u003c/PRED\u003e","video":"3021429948921114513.mp4"}
+{"uid":"6760139060408418601","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange cable into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange cable into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7859456906271198706.mp4"}
+{"uid":"8558308146893667020","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black object in the box 2- put the orange object into the carton 3- put the marker in the box 4- Drop the bowl in box 5- place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton Q: immediate next step? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3652707559850864897.mp4"}
+{"uid":"2802871532720098858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"228223635936001313.mp4"}
+{"uid":"6736878470031392585","text":"\u003ctask:success:discrete:False\u003e\nOpen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the box 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"2444495297277364716.mp4"}
+{"uid":"5858093581538295866","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e","video":"3243048102643138127.mp4"}
+{"uid":"9837972281834773788","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sponge into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sponge into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the sponge into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sponge into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge into the carton 2- Drop the black wire in box 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box 7- Drop the bowl in box 8- place the bowl into the carton 9- Drop the bowl in box Q: immediate next step? \u003cPRED\u003eA: place the sponge into the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sponge into the carton\n\u003c/PRED\u003e","video":"12253811818497141751.mp4"}
+{"uid":"4635191809894401388","text":"\u003ctask:success:discrete:True\u003e\nPut the small orange object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the small orange object in the box\n\u003c/PRED\u003e","video":"5217551780988261401.mp4"}
+{"uid":"8071709754025381587","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put belt in the box 2- put the marker in the box 3- Drop the bowl in box 4- place the bowl into the carton 5- Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton Q: immediate next step? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut belt in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut belt in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17193539375659188520.mp4"}
+{"uid":"2268841633640441815","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put scrub in  box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut scrub in  box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11832325716321304385.mp4"}
+{"uid":"5002576476277494729","text":"\u003ctask:success:discrete:True\u003e\nput the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow packet in the box\n\u003c/PRED\u003e","video":"6874608021076092750.mp4"}
+{"uid":"2314413619040248207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15845976555936753153.mp4"}
+{"uid":"10316849695703546570","text":"\u003ctask:success:discrete:False\u003e\nput the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- Drop the bowl in box 3- place the bowl into the carton 4- Drop the bowl in box 5- Put scrub in  box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16476394517459495256.mp4"}
+{"uid":"9941607169127312035","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bowl in box 2- place the bowl into the carton 3- Drop the bowl in box 4- Put scrub in  box 5- Drop the black wire in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bowl in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton 4- place the black object into the carton 5- put the orange object into the carton 6- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bowl in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bowl in box\n\u003c/PRED\u003e","video":"1157690035675288384.mp4"}
+{"uid":"1791028980215561908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up black marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9308051155518111313.mp4"}
+{"uid":"3886479431117604201","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17939982760778898096.mp4"}
+{"uid":"15395316736861491912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13199530102991299612.mp4"}
+{"uid":"1830785805260900002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14892648949465870584.mp4"}
+{"uid":"320436403043670135","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black object into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black object into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black object into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the black object into the carton 2- put the orange object into the carton 3- put the marker in the box 4- Drop the bowl in box 5- place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the carton 2- place the orange cable into the carton 3- place the regulator into the carton Q: immediate next step? \u003cPRED\u003eA: place the black object into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the black object into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black object into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15946638735008993114.mp4"}
+{"uid":"1608245606419598615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift the black pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6144656310985446069.mp4"}
+{"uid":"17431043462132231369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8009706417737791398.mp4"}
+{"uid":"5651647474022719209","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stand upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput stand upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put stand upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput stand upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stand upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put stand upright\n\u003c/PRED\u003e","video":"9335997480131848188.mp4"}
+{"uid":"5811889398665665205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the rold gold packet left side in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10775847478269396374.mp4"}
+{"uid":"9599043196703365311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticker glass with paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17835201430141399825.mp4"}
+{"uid":"1159139677937790087","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the scoop from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour pistachios into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pour pistachios into the bowl 2- pour pistachios into the bowl 3- pour pistachios into the bowl 4- place scoop into the holder 5- place pistachio into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour pistachios into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the scoop from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e","video":"9155698734042631976.mp4"}
+{"uid":"15532853996677991784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop sweep the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13667426582865449171.mp4"}
+{"uid":"496938046619568552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18254301291291062184.mp4"}
+{"uid":"14484997889632006060","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"7412251068247721720.mp4"}
+{"uid":"3630188939444394637","text":"\u003ctask:success:discrete:False\u003e\nput green marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright Q: immediate next step? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the stand 2- put grey marker in the stand 3- put black marker in the stand 4- put green marker in the stand 5- put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e","video":"7068845176162022377.mp4"}
+{"uid":"5838034337501198024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11272508418305037327.mp4"}
+{"uid":"9340233723038512242","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand 7- put yellow marker in the stand 8- put blue marker in the stand 9- put grey marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput grey marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand 7- put yellow marker in the stand 8- put blue marker in the stand 9- put grey marker in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11491479893650780704.mp4"}
+{"uid":"11141859288828084342","text":"\u003ctask:success:discrete:True\u003e\nput yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e","video":"10321925449087870404.mp4"}
+{"uid":"6463166822269825912","text":"\u003ctask:success:discrete:True\u003e\npour pistachios into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour pistachios into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pour pistachios into the bowl 2- pour pistachios into the bowl 3- place scoop into the holder 4- place pistachio into the bowl 5- place the lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e","video":"7886569946205383139.mp4"}
+{"uid":"16634937667462557128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10632675737198430601.mp4"}
+{"uid":"2499019528578891721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange yellow packet outside 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":"4310558071571685029.mp4"}
+{"uid":"12116245715449699445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7789235701377996496.mp4"}
+{"uid":"14052716338892811363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove holder forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15536269485876307229.mp4"}
+{"uid":"17796153817231458086","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table Q: immediate next step? \u003cPRED\u003eA: pickup the scoop from the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: pickup the scoop from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the scoop from the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the scoop from the holder 2- pour pistachios into the bowl 3- pour pistachios into the bowl 4- pour pistachios into the bowl 5- place scoop into the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the jar lid on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the scoop from the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the scoop from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the jar lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the scoop from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14967653552265886837.mp4"}
+{"uid":"2509703830289576029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass upright on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17698553693000047907.mp4"}
+{"uid":"14375805337320860148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two pink sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16105307925732315622.mp4"}
+{"uid":"702372712130028009","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl 7- place scoop into the holder 8- place pistachio into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl 7- place scoop into the holder 8- place pistachio into the bowl Q: immediate next step? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pistachio into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pistachio into the bowl\n\u003c/PRED\u003e","video":"6162568966454233832.mp4"}
+{"uid":"12068324803483353104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10395102450299836026.mp4"}
+{"uid":"11326128702030513524","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand Q: immediate next step? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the stand 2- put yellow marker in the stand 3- put blue marker in the stand 4- put grey marker in the stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e","video":"8279695753220856693.mp4"}
+{"uid":"4758214850038737942","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl 7- place scoop into the holder 8- place pistachio into the bowl 9- place the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl 7- place scoop into the holder 8- place pistachio into the bowl 9- place the lid on the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9186390381981371909.mp4"}
+{"uid":"3875723548942257183","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place the cup upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup upright on the table\n\u003c/PRED\u003e","video":"17518448952159853426.mp4"}
+{"uid":"816975447137430267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11221443502819470659.mp4"}
+{"uid":"10528726644390301462","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put blue marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand 7- put yellow marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in the stand 2- put grey marker in the stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand 7- put yellow marker in the stand Q: immediate next step? \u003cPRED\u003eA: put blue marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in the stand\n\u003c/PRED\u003e","video":"14154356359381023048.mp4"}
+{"uid":"3721479569249145634","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray 9- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray 9- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"13613806801052379398.mp4"}
+{"uid":"9220306806095487943","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"17989783538883653920.mp4"}
+{"uid":"14648117809321520718","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put black marker in the stand 2- put green marker in the stand 3- put pink marker in the stand 4- put yellow marker in the stand 5- put blue marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand Q: immediate next step? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e","video":"12953815950656189153.mp4"}
+{"uid":"7040345355637199467","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput grey marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand 7- put yellow marker in the stand 8- put blue marker in the stand Q: immediate next step? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grey marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand 7- put yellow marker in the stand 8- put blue marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put grey marker in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e","video":"5738917261697640937.mp4"}
+{"uid":"18271548016033815298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass with the straw in the compostables bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13193914084848961850.mp4"}
+{"uid":"8056870496206613522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12503223079316899434.mp4"}
+{"uid":"17732659673010194328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15906233859597678708.mp4"}
+{"uid":"16364187550888533958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10862394858491191925.mp4"}
+{"uid":"15758672044671140655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange cable from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12154533579500479812.mp4"}
+{"uid":"18031110107368795639","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray 8- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9799547192487099918.mp4"}
+{"uid":"5867072555550903158","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour pistachios into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour pistachios into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pour pistachios into the bowl 2- place scoop into the holder 3- place pistachio into the bowl 4- place the lid on the jar 5- done\n\u003c/PRED\u003e","video":"9913930154974829864.mp4"}
+{"uid":"17220433122311491915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5343401735130352086.mp4"}
+{"uid":"5910306512664814992","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand 5- put green marker in the stand 6- put pink marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in the stand 2- put blue marker in the stand 3- put grey marker in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e","video":"5861644822353247185.mp4"}
+{"uid":"4735913959173498107","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"14038511743143787130.mp4"}
+{"uid":"2223409128498761911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17901212313007605426.mp4"}
+{"uid":"565845946941519097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2224082666110999757.mp4"}
+{"uid":"14127441971482631980","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put grey marker in the stand 2- put black marker in the stand 3- put green marker in the stand 4- put pink marker in the stand 5- put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grey marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand Q: immediate next step? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput grey marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grey marker in the stand\n\u003c/PRED\u003e","video":"9496286693951779953.mp4"}
+{"uid":"15174791700543492730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the jar lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the jar lid on the table 2- pickup the scoop from the holder 3- pour pistachios into the bowl 4- pour pistachios into the bowl 5- pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the jar lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the jar lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table Q: immediate next step? \u003cPRED\u003eA: place the jar lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the jar lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place the jar lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup upright 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":"1102498623838191355.mp4"}
+{"uid":"18345799263731533995","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the stand 2- put pink marker in the stand 3- put yellow marker in the stand 4- put blue marker in the stand 5- put grey marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put green marker in the stand 3- put grey marker in the stand 4- put black marker in the stand Q: immediate next step? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5386046552145824033.mp4"}
+{"uid":"6953003346819874148","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the oatmeal packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"4822680170801413293.mp4"}
+{"uid":"17303580224990476552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14925325938981636380.mp4"}
+{"uid":"13497080314593753612","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"5438790698047452047.mp4"}
+{"uid":"1343816906854031965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4158727575215082205.mp4"}
+{"uid":"7409550127261541135","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pistachio into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace scoop into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place pistachio into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pistachio into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pistachio into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place scoop into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl 7- place scoop into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pistachio into the bowl 2- place the lid on the jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl 7- place scoop into the holder Q: immediate next step? \u003cPRED\u003eA: place pistachio into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pistachio into the bowl\n\u003c/PRED\u003e","video":"7464473041848883101.mp4"}
+{"uid":"15838231766463863398","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"1648673761750699700.mp4"}
+{"uid":"8137784202318802043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing glass stack on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"263245297318021852.mp4"}
+{"uid":"13724047686074531019","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace scoop into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace scoop into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place scoop into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour pistachios into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place scoop into the holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour pistachios into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl Q: immediate next step? \u003cPRED\u003eA: place scoop into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- place the cup upright on the table 2- place the jar lid on the table 3- pickup the scoop from the holder 4- pour pistachios into the bowl 5- pour pistachios into the bowl 6- pour pistachios into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place scoop into the holder 2- place pistachio into the bowl 3- place the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: place scoop into the holder\n\u003c/PRED\u003e","video":"2721257593971113249.mp4"}
+{"uid":"16177188868408812823","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the oatmeal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place oatmeal packets in the tray. last 20 steps: 1- Place the oatmeal packet in the tray 2- Place the oatmeal packet in the tray 3- Place the oatmeal packet in the tray 4- Place the oatmeal packet in the tray 5- Place the oatmeal packet in the tray 6- Place the oatmeal packet in the tray 7- Place the oatmeal packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the oatmeal packet in the tray\n\u003c/PRED\u003e","video":"12801463284451741497.mp4"}
+{"uid":"5942108531632310447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6317185675837302658.mp4"}
+{"uid":"14564896704577437167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11311496578706926224.mp4"}
+{"uid":"10964384495191241555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the box on upper 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":"15998897926863155321.mp4"}
+{"uid":"6095327857556610564","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":"7072230775836916374.mp4"}
+{"uid":"10140434297211380433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4537767601786935611.mp4"}
+{"uid":"11387194095859798513","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red 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 place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put red pen in the holder 3- put black pen in the holder 4- put black pen in the holder 5- put black in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e","video":"15039123454503476588.mp4"}
+{"uid":"7619936576535604286","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red 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 red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- done\n\u003c/PRED\u003e","video":"2741707614807873582.mp4"}
+{"uid":"12969624958684801309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1724499163051840048.mp4"}
+{"uid":"4431309823969001800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"691793099112674256.mp4"}
+{"uid":"18098544890289210573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1309787291233896299.mp4"}
+{"uid":"12177391584388089811","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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 red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder 18- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put red pen in the holder 3- put black pen in the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder 18- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e","video":"7655136801568311225.mp4"}
+{"uid":"3147945727860908523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop cup into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10316294863011165556.mp4"}
+{"uid":"13029331113362707637","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange red pen on the table 2- arrange red pen on the table 3- arrange red pen on the table 4- arrange red pen on the table 5- arrange red pen on the table\n\u003c/PRED\u003e","video":"15313149394334457879.mp4"}
+{"uid":"15812242863581646878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the top of exiting 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":"15884205551668902143.mp4"}
+{"uid":"13600291867165866781","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder 18- put red pen in the holder 19- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put black pen in the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder 18- put red pen in the holder 19- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e","video":"10889591154426837615.mp4"}
+{"uid":"15783265047350400850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15094794448087074866.mp4"}
+{"uid":"15193776952181854866","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange black pens on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange black pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange black pens 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: arrange black pens on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange black pens on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table 15- arrange black pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange black pens on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table 15- arrange black pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange black pens on the table 2- arrange black pen on the table 3- arrange black pen on the table 4- done\n\u003c/PRED\u003e","video":"14692876891359904859.mp4"}
+{"uid":"8876429292339215351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9353273088478586394.mp4"}
+{"uid":"15985512626090384383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13784283667772942026.mp4"}
+{"uid":"16834665384881751164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14637267338614236129.mp4"}
+{"uid":"9311896998360858221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6866344968998366796.mp4"}
+{"uid":"4840710002215101982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10013293108117211955.mp4"}
+{"uid":"14992047790060846486","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put red pen in the holder 3- put black pen in the holder 4- put red pen in the holder 5- put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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","video":"5936930315189891786.mp4"}
+{"uid":"13329808078328567460","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put black pen in the holder 3- put black pen in the holder 4- put black pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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 black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"2219243929696303087.mp4"}
+{"uid":"13352519434797047974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup on another cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12256341591787150082.mp4"}
+{"uid":"9971316288753604384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  second tong in a 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":"11843128347149060737.mp4"}
+{"uid":"14457367390000121415","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange red pen on the table 5- arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e","video":"12256311258613397235.mp4"}
+{"uid":"6589662554487223377","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put black pen in the holder 3- put red pen in the holder 4- put red pen in the holder 5- put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e","video":"9482008585066324496.mp4"}
+{"uid":"5068991293253285092","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange red pen on the table 2- arrange red pen on the table 3- arrange red pen on the table 4- arrange black pen on the table 5- arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e","video":"3591550505928607584.mp4"}
+{"uid":"10188117566106102611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"636672411630825861.mp4"}
+{"uid":"10331635321667258848","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put black pen in the holder 3- put black pen in the holder 4- put red pen in the holder 5- put red pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"12471187162861807210.mp4"}
+{"uid":"13816290395393240221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5990911424620804775.mp4"}
+{"uid":"1184046711816690268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8577898700794870248.mp4"}
+{"uid":"6621166746332795736","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put red pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"4389862371902747092.mp4"}
+{"uid":"337304571647815965","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":"361865689690852607.mp4"}
+{"uid":"12997247359236240406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"2223199125208603096.mp4"}
+{"uid":"3325145183139562448","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put black in the holder 3- put red pen in the holder 4- put red pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"9950325054375930385.mp4"}
+{"uid":"17483342836804601236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange red pen on the table 2- arrange black pen on the table 3- arrange black pen on the table 4- arrange black pen on the table 5- arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e","video":"13279695515021035151.mp4"}
+{"uid":"13712897239001940536","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black in the holder\n\u003c/PRED\u003e","video":"11058788122704344576.mp4"}
+{"uid":"9566616301081642839","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange blue pen on the table 2- arrange red pen on the table 3- arrange red pen on the table 4- arrange red pen on the table 5- arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e","video":"14277974244412279229.mp4"}
+{"uid":"6650772375750335007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndraw heart shape on the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15282151030097542970.mp4"}
+{"uid":"1920892987209395856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green chocolate 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":"8358533909183602353.mp4"}
+{"uid":"16908630878879683003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown paper into the trash  bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15637269261936447341.mp4"}
+{"uid":"10708065273291001050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7566979451706938593.mp4"}
+{"uid":"14354243374797865538","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put black pen in the holder 3- put black in the holder 4- put red pen in the holder 5- put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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","video":"799331228764649245.mp4"}
+{"uid":"11024359059235648934","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table 15- arrange black pen on the table 16- arrange black pens on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange black pen on the table 2- arrange black pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table 15- arrange black pen on the table 16- arrange black pens on the table Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9307617045745386850.mp4"}
+{"uid":"4270963951004870615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6650581004734101856.mp4"}
+{"uid":"4090411550729284480","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put black pen in the holder 3- put black pen in the holder 4- put black in the holder 5- put red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e","video":"13876844476199467083.mp4"}
+{"uid":"5837789324946760500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17362677579648361000.mp4"}
+{"uid":"14168580400000061434","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange red pen on the table 2- arrange red pen on the table 3- arrange red pen on the table 4- arrange red pen on the table 5- arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e","video":"5064477906838517443.mp4"}
+{"uid":"17090628690997338210","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put black pen in the holder 3- put black pen in the holder 4- put black pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e","video":"7302665150731389497.mp4"}
+{"uid":"2691614450292818657","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put black pen in the holder 3- put red pen in the holder 4- put red pen in the holder 5- put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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","video":"2400092824469730603.mp4"}
+{"uid":"3401849426324958115","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder 18- put red pen in the holder 19- put red pen in the holder 20- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder 17- put black pen in the holder 18- put red pen in the holder 19- put red pen in the holder 20- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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 black 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","video":"16680556634785485763.mp4"}
+{"uid":"16549885450532377606","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange red pen on the table 2- arrange red pen on the table 3- arrange red pen on the table 4- arrange red pen on the table 5- arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange red pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e","video":"2002030975425174729.mp4"}
+{"uid":"6090198655530075014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8142577251720385949.mp4"}
+{"uid":"18446225895164547708","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange black pen on the table 2- arrange black pens on the table 3- arrange black pen on the table 4- arrange black pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e","video":"323977641269839451.mp4"}
+{"uid":"17647683104025718266","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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 black 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:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"5677978744756124972.mp4"}
+{"uid":"17430331312506699573","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange black pen on the table 2- arrange black pen on the table 3- arrange black pen on the table 4- arrange black pens on the table 5- arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e","video":"4125354724584527331.mp4"}
+{"uid":"1196098582149362277","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":"1684475908322380403.mp4"}
+{"uid":"684293724725116504","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange black pen on the table 2- arrange black pen on the table 3- arrange black pen on the table 4- arrange black pen on the table 5- arrange black pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange black pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e","video":"16401975931172387685.mp4"}
+{"uid":"4769470597264917251","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put red pen in the holder\n\u003c/PRED\u003e","video":"16753053101727081147.mp4"}
+{"uid":"8429038839211678819","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder 2- put red pen in the holder 3- put black pen in the holder 4- put black pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red 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","video":"12783889364462865490.mp4"}
+{"uid":"18329485186266939962","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange red pen on the table 4- arrange red pen on the table 5- arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e","video":"11601522969636285069.mp4"}
+{"uid":"10402612228452476708","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange red pen on the table 2- arrange red pen on the table 3- arrange black pen on the table 4- arrange black pen on the table 5- arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange red pen on the table\n\u003c/PRED\u003e","video":"9148804647244975144.mp4"}
+{"uid":"11150029045193941475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the big sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7204977240882662447.mp4"}
+{"uid":"4302801519122559185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky note in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"300386488876863539.mp4"}
+{"uid":"14579438037614146449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"10956872727074834007.mp4"}
+{"uid":"16901432205975538460","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":"13653481097859383750.mp4"}
+{"uid":"16902741309048097005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2839470474830511030.mp4"}
+{"uid":"5248474615516606673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3980484026176652719.mp4"}
+{"uid":"4916467398890899635","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table\n\u003c/PRED\u003e","video":"4051559020632525909.mp4"}
+{"uid":"10629875865793496656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana 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":"2323739899746542887.mp4"}
+{"uid":"3472674492646811846","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table 15- arrange black pen on the table 16- arrange black pens on the table 17- arrange black pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange black pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table 14- arrange black pen on the table 15- arrange black pen on the table 16- arrange black pens on the table 17- arrange black pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e","video":"15077031221990093389.mp4"}
+{"uid":"12709708693677290998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1062552534504390451.mp4"}
+{"uid":"45866482943163941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"2053156304419973902.mp4"}
+{"uid":"593596750018254361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange red pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange blue pen on the table\n\u003c/PRED\u003e","video":"9134567663464191848.mp4"}
+{"uid":"702910875031188090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stack in the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9825304188771165505.mp4"}
+{"uid":"15501559498514352780","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put black pen in the holder 3- put black pen in the holder 4- put black pen in the holder 5- put red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"15097299494207964822.mp4"}
+{"uid":"10951384151950674187","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the pens by color. last 20 steps: 1- arrange blue pen on the table 2- arrange blue pen on the table 3- arrange blue pen on the table 4- arrange blue pen on the table 5- arrange blue pen on the table 6- arrange red pen on the table 7- arrange red pen on the table 8- arrange red pen on the table 9- arrange red pen on the table 10- arrange red pen on the table 11- arrange red pen on the table 12- arrange black pen on the table 13- arrange black pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange black pen on the table 2- arrange black pen on the table 3- arrange black pens on the table 4- arrange black pen on the table 5- arrange black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the pens by color. Q: immediate next step? \u003cPRED\u003eA: arrange black pen on the table\n\u003c/PRED\u003e","video":"2102971623783694964.mp4"}
+{"uid":"9771009703720984858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13156137647178883065.mp4"}
+{"uid":"9264919151933014884","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black 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 black 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 place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put red pen in the holder 5- put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- put black pen in the holder 2- put red pen in the holder 3- put red pen in the holder 4- put black pen in the holder 5- put black pen in the holder 6- put black in the holder 7- put red pen in the holder 8- put red pen in the holder 9- put black pen in the holder 10- put black pen in the holder 11- put black pen in the holder 12- put black pen in the holder 13- put black pen in the holder 14- put red pen in the holder 15- put red pen in the holder 16- put red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"5487083594246317665.mp4"}
+{"uid":"8504503822678287355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar pouch 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":"12312141107001062778.mp4"}
+{"uid":"2307408185270265571","text":"\u003ctask:success:discrete:True\u003e\nDrop brown chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e","video":"17542999157223139017.mp4"}
+{"uid":"1590196730355758764","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6497610780423681755.mp4"}
+{"uid":"6616752437267475004","text":"\u003ctask:success:discrete:True\u003e\nDrop brown chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e","video":"15503727081927695286.mp4"}
+{"uid":"8856109761831016807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic forks in plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2973502389605389863.mp4"}
+{"uid":"9649408862833958991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6724960369484933984.mp4"}
+{"uid":"4461483962783783790","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table 9- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table 9- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop white chip packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop white chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e","video":"13815631567851424804.mp4"}
+{"uid":"15541475683716637224","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop white chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop white chip packet on the table 2- Drop white chip packet on the table 3- Drop white chip packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e","video":"1194813078770622657.mp4"}
+{"uid":"9380456638974323033","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table in a queue 2- Drop white chip packet on the table 3- Drop white chip packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17714915323390340451.mp4"}
+{"uid":"17705575959586727106","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table 9- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table 9- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table in a queue 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5320511760649414589.mp4"}
+{"uid":"11114810306865841706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13131456829121864099.mp4"}
+{"uid":"4294144207283827477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3634260622717055392.mp4"}
+{"uid":"8346174221586505163","text":"\u003ctask:success:discrete:True\u003e\nDrop white chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table 9- Drop white chip packet on the table 10- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table 9- Drop white chip packet on the table 10- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7777794917119995284.mp4"}
+{"uid":"11263982227198999397","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1069592878286471931.mp4"}
+{"uid":"16428419933848402046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17594916268283251244.mp4"}
+{"uid":"1493799962777660369","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e","video":"10685389293275676232.mp4"}
+{"uid":"14413800179742237336","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop brown chip packet on the table 2- Drop white chip packet on the table 3- Drop white chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop brown chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop brown chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12327059868566580848.mp4"}
+{"uid":"13920723795588169596","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop brown chip packet on the table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop brown chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13520533539688516414.mp4"}
+{"uid":"4982525225769467663","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the table in a queue 2- Drop white chip packet on the table 3- Drop white chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2345656109641782638.mp4"}
+{"uid":"6248702202112557750","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop brown chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop brown chip packet on the table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e","video":"666216672216130361.mp4"}
+{"uid":"10794926625698272824","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the table in a queue 2- Drop brown chip packet on the table 3- Drop white chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18370298408590284206.mp4"}
+{"uid":"6981020085480791255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12738466992422202783.mp4"}
+{"uid":"15220872608764586810","text":"\u003ctask:success:discrete:True\u003e\nDrop white chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e","video":"355008806693312913.mp4"}
+{"uid":"3561838860790139627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can 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":"15373761009897009286.mp4"}
+{"uid":"7820401465091509068","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop white chip packet on the table 2- Drop white chip packet on the table 3- Drop white chip packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop white chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e","video":"10313215929211186246.mp4"}
+{"uid":"6950679070719203559","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop brown chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop brown chip packet on the table 2- Drop brown chip packet on the table 3- Drop white chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e","video":"3965064006106168569.mp4"}
+{"uid":"16962653085185374784","text":"\u003ctask:success:discrete:True\u003e\nDrop white chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e","video":"14477945090259568574.mp4"}
+{"uid":"16957951025328144569","text":"\u003ctask:success:discrete:True\u003e\nplace packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e","video":"5586573445190369490.mp4"}
+{"uid":"15269159322257420743","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e","video":"1868101973065524392.mp4"}
+{"uid":"17229419208474243216","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15300470777853787617.mp4"}
+{"uid":"12027563521961266537","text":"\u003ctask:success:discrete:False\u003e\nDrop white chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop white chip packet on the table 2- Drop white chip packet on the table 3- Drop white chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop white chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1226626605351173737.mp4"}
+{"uid":"730966698880301141","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e","video":"402540210308779140.mp4"}
+{"uid":"5777002840160790501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the screw driver Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"911865777751484374.mp4"}
+{"uid":"16004545896707549121","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":"9519081725450850181.mp4"}
+{"uid":"11034971034341828161","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table in a queue 2- Drop white chip packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2022208785303519963.mp4"}
+{"uid":"754916444731817095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13255410273543489476.mp4"}
+{"uid":"7825755122931534481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13590697659953413551.mp4"}
+{"uid":"1371195327889506445","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the table in a queue 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13650091422755099647.mp4"}
+{"uid":"12855787131252459457","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop brown chip packet on the table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop brown chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop brown chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e","video":"11513077117852488160.mp4"}
+{"uid":"3888260615580295978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1108953102846682431.mp4"}
+{"uid":"17028803066910466839","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- Drop white chip packet on the table 3- Drop white chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e","video":"17006484498563356956.mp4"}
+{"uid":"9040678496918527285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11975453196020934623.mp4"}
+{"uid":"12387259396200939579","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3487098593947098973.mp4"}
+{"uid":"4483469127451488385","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop brown chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18358888979574985465.mp4"}
+{"uid":"9021874600775146640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink toffee 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":"18186173624712707693.mp4"}
+{"uid":"4038565234860112680","text":"\u003ctask:success:discrete:True\u003e\nDrop white chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e","video":"15059371029863027759.mp4"}
+{"uid":"14018659264847519498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black box in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4680009467476863938.mp4"}
+{"uid":"17702980152907956887","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop white chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table 8- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop white chip packet on the table 2- Drop white chip packet on the table 3- done\n\u003c/PRED\u003e","video":"478043560831936026.mp4"}
+{"uid":"14446545057565670550","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop brown chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8178321852523232621.mp4"}
+{"uid":"3756110372697284945","text":"\u003ctask:success:discrete:True\u003e\nDrop white chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop white chip packet on the table\n\u003c/PRED\u003e","video":"1730739961670327590.mp4"}
+{"uid":"552047822105590769","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table in a queue 2- Drop white chip packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop brown chip packet on the table 5- Drop brown chip packet on the table 6- Drop white chip packet on the table 7- Drop white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table in a queue\n\u003c/PRED\u003e","video":"7327230694099772693.mp4"}
+{"uid":"10606572288674393472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"780311882955778033.mp4"}
+{"uid":"1522508229629021493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  pink sugar packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4047034552125133497.mp4"}
+{"uid":"4833805268187652369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"423137242728320229.mp4"}
+{"uid":"14083422222575378550","text":"\u003ctask:success:discrete:True\u003e\nDrop brown chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop brown chip packet on the table\n\u003c/PRED\u003e","video":"12793146300844887121.mp4"}
+{"uid":"698690692251932894","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the table in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the table in a queue 2- Drop brown chip packet on the table 3- Drop brown chip packet on the table 4- Drop white chip packet on the table 5- Drop white chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the table in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the chips out of the bin and place it on the table. last 20 steps: 1- place packet on table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table in a queue\n\u003c/PRED\u003e","video":"7123374954937261480.mp4"}
+{"uid":"3361366535206819102","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"7531168812136942139.mp4"}
+{"uid":"10721053275883041475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the cap to the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12954657742145100467.mp4"}
+{"uid":"12517927561905293307","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair Q: next 5 steps? \u003cPRED\u003eA: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e","video":"16641567715557566758.mp4"}
+{"uid":"14509103143652519308","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- pick up the pens 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e","video":"15255720605530282090.mp4"}
+{"uid":"10147511600868010744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8469757053192035462.mp4"}
+{"uid":"11479380432888864218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15633503928425057124.mp4"}
+{"uid":"2498488114038288867","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- pick up the pens 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11006744949734945006.mp4"}
+{"uid":"826350639741679101","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book 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":"8033665001718723069.mp4"}
+{"uid":"9271145075714496397","text":"\u003ctask:success:discrete:True\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"753447767803566245.mp4"}
+{"uid":"14328397460125310100","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair\n\u003c/PRED\u003e","video":"3143255571837010205.mp4"}
+{"uid":"1524486858486461719","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"3958409941060396914.mp4"}
+{"uid":"17310797418734324017","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair Q: next 5 steps? \u003cPRED\u003eA: 1- pull the chair 2- pull the chair 3- pull the chair 4- place the books on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e","video":"1144051985858019714.mp4"}
+{"uid":"14931475688138435348","text":"\u003ctask:success:discrete:True\u003e\nplace the books on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the books on the table\n\u003c/PRED\u003e","video":"5457561368173054828.mp4"}
+{"uid":"2208590806185205469","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14551673530011884369.mp4"}
+{"uid":"7394334507442729970","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray 8- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray 8- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"2612381860895489105.mp4"}
+{"uid":"7012782617177743363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14402318496084735835.mp4"}
+{"uid":"13236620775871003998","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair Q: next 5 steps? \u003cPRED\u003eA: 1- pull the chair 2- pull the chair 3- place the books on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e","video":"14160268315785693121.mp4"}
+{"uid":"18203185881229939303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14483435802808954291.mp4"}
+{"uid":"1050344416987646828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pens on the table from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16612707492607478144.mp4"}
+{"uid":"7076952434534179095","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the pen 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 on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6717864682035184649.mp4"}
+{"uid":"12636337382733460099","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- pick up the pens 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"14330140434279026960.mp4"}
+{"uid":"11097600938832449117","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen 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 on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"6979007934266818292.mp4"}
+{"uid":"2639562482380013839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in right side bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3487256136149344249.mp4"}
+{"uid":"5613936480144101768","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"7659882057919401889.mp4"}
+{"uid":"12322184222558566598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10897332490092586048.mp4"}
+{"uid":"1895686426542102267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink packet 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":"16679700631269950855.mp4"}
+{"uid":"2664685267010802179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"185399343042236781.mp4"}
+{"uid":"2553789858222284775","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"11235753819683939320.mp4"}
+{"uid":"8000854226320022967","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"11197317947444957120.mp4"}
+{"uid":"7421830858970770260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5092326406684775309.mp4"}
+{"uid":"12899331622550114070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9580592583691069755.mp4"}
+{"uid":"12761455893652235671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3473722453036920043.mp4"}
+{"uid":"8599265840735809807","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table 19- place the pen 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 pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table 19- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10035926016246136882.mp4"}
+{"uid":"3220350593790503229","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen 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 on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- done\n\u003c/PRED\u003e","video":"9954543933741255956.mp4"}
+{"uid":"14886948336204912772","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"119877521787691315.mp4"}
+{"uid":"2032968317809612658","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"10977673429859349330.mp4"}
+{"uid":"4722315869433831110","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"16130125865326601507.mp4"}
+{"uid":"17688739380979403083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11069058420716885134.mp4"}
+{"uid":"2821380071166514529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop black color box in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4791535316725629560.mp4"}
+{"uid":"1821728332486417218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9953070153907457130.mp4"}
+{"uid":"1635337795007756944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8024932360516725942.mp4"}
+{"uid":"11343915281529282482","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"13481925380657083426.mp4"}
+{"uid":"2301056813619586238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the salt packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13582344349345766657.mp4"}
+{"uid":"7849927762023021282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17349972035622195339.mp4"}
+{"uid":"6433383413036120791","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: pick up the pens\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table Q: immediate next step? \u003cPRED\u003eA: pick up the pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pens 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e","video":"4453868153897568620.mp4"}
+{"uid":"6367750392855689520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7406503178782507178.mp4"}
+{"uid":"3984615892449250775","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":"12793346592929491319.mp4"}
+{"uid":"8458021638233283747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo back 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":"2415946221107807956.mp4"}
+{"uid":"18031389644763275926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7858984914869800149.mp4"}
+{"uid":"7913981393233755004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7011154377406026347.mp4"}
+{"uid":"6922982819477068247","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair Q: next 5 steps? \u003cPRED\u003eA: 1- pull the chair 2- place the books on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e","video":"4495893936217798811.mp4"}
+{"uid":"1625552869956824125","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray 8- put popcorn packet in the tray 9- put popcorn packet in the tray 10- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray 8- put popcorn packet in the tray 9- put popcorn packet in the tray 10- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7746898051545546528.mp4"}
+{"uid":"16165701837513345342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10570530986064200216.mp4"}
+{"uid":"15861418388953155479","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair Q: next 5 steps? \u003cPRED\u003eA: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- place the books on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7213098824986910636.mp4"}
+{"uid":"10397259049035314545","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"5031216004308049363.mp4"}
+{"uid":"6269346961802765402","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen 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 on the table\n\u003c/PRED\u003e","video":"8605205350483447446.mp4"}
+{"uid":"17442918225973694724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12436713468275977567.mp4"}
+{"uid":"16514225576671777387","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8541570333459301045.mp4"}
+{"uid":"14779708148215757862","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"6916558172226121267.mp4"}
+{"uid":"14791813884109445321","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray 8- put popcorn packet in the tray 9- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray 6- put popcorn packet in the tray 7- put popcorn packet in the tray 8- put popcorn packet in the tray 9- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"734896553332080.mp4"}
+{"uid":"13144693749593939910","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"15786209490350039808.mp4"}
+{"uid":"3114421468337331916","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- pick up the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"12335939981636853183.mp4"}
+{"uid":"6271314306683392112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black holder in the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15306837750470210332.mp4"}
+{"uid":"7177950372152191182","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the books on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the books on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair Q: immediate next step? \u003cPRED\u003eA: place the books on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the books 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: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair Q: next 5 steps? \u003cPRED\u003eA: 1- place the books on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the books on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the books on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9539004876807146996.mp4"}
+{"uid":"2219118845252410952","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens. last 20 steps: 1- pull the chair 2- pull the chair 3- pull the chair 4- pull the chair 5- pull the chair 6- pull the chair 7- place the books on the table 8- place the book on the table 9- place the book on the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- pick up the pens 14- place the pen on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting is starting soon, please go to the conference room and pull all the chairs out to prep it for us by laying out notebooks and pens Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"8711994221502638060.mp4"}
+{"uid":"13614317322263544297","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10647265266309595207.mp4"}
+{"uid":"14834775843187452294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4093203552621779568.mp4"}
+{"uid":"113248959325130145","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"18336542443723779702.mp4"}
+{"uid":"3835075233256381485","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- pick the pen from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"566208438761533229.mp4"}
+{"uid":"10182344812560756227","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- put the pen in the pen holder 3- put the pen in the pen holder 4- pick the pen from the floor 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"4055960991070185137.mp4"}
+{"uid":"11208493655180421127","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"10099302160424751666.mp4"}
+{"uid":"7088260776990581294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"779814155885280058.mp4"}
+{"uid":"9836312631272976200","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- Pick up the pen 11- Put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- Pick up the pen 11- Put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5822572006262749056.mp4"}
+{"uid":"4724980089821033620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the red packet on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"83932401075716869.mp4"}
+{"uid":"7030441851120622669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3125721211615418656.mp4"}
+{"uid":"14679079483327707623","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15990590797823857939.mp4"}
+{"uid":"7977054204893884760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"542710107373622451.mp4"}
+{"uid":"8928106402012923046","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"10287790140684239172.mp4"}
+{"uid":"6264585329786710034","text":"\u003ctask:success:discrete:True\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e","video":"14141106338167143737.mp4"}
+{"uid":"5604832741536050949","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen holder 3- Pick up the pen 4- Put the pen in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7100887695350946915.mp4"}
+{"uid":"16914482191759269887","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- Pick up the pen Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- Pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- done\n\u003c/PRED\u003e","video":"1044657991836173756.mp4"}
+{"uid":"7681492370015796904","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the pen in the pen holder 3- pick the pen from the floor 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"10762313753460646066.mp4"}
+{"uid":"11368261308820514851","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12278470803076349472.mp4"}
+{"uid":"13288024454092043911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6003067642231829028.mp4"}
+{"uid":"4035957857521457572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12526196895983276614.mp4"}
+{"uid":"10034448289073594239","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13610220126531708790.mp4"}
+{"uid":"15023803460082510879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4824669069625127600.mp4"}
+{"uid":"9588090720091262660","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13983672690254007807.mp4"}
+{"uid":"11754575870221979798","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- Pick up the pen 3- Put the pen in the pen stand 4- done\n\u003c/PRED\u003e","video":"8094691634012994952.mp4"}
+{"uid":"5351153925050575901","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"17908655448478082762.mp4"}
+{"uid":"10932915422783583951","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens in the pen holder 2- put the pen in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens in the pen holder\n\u003c/PRED\u003e","video":"11148206973948533763.mp4"}
+{"uid":"14397115526041796245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8218224171284496334.mp4"}
+{"uid":"16597866476541118837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue pen inside the pen stand from the Floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9728929824714298353.mp4"}
+{"uid":"11914780981379758600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16269250400943689634.mp4"}
+{"uid":"12729309769542926354","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- Pick up the pen 3- Put the pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2317071018495861067.mp4"}
+{"uid":"1677095238858245973","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11377280046936574458.mp4"}
+{"uid":"14352958181701673148","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8108450258364789406.mp4"}
+{"uid":"17536344811767279615","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the pen in the pen holder 3- put the pen in the pen holder 4- pick the pen from the floor 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"5065844395285752596.mp4"}
+{"uid":"4110676586420079160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the glass jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3344924027616925645.mp4"}
+{"uid":"8922061400495559996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17837883282535690453.mp4"}
+{"uid":"9728684048854958580","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the pen in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- pick the pen from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"13633205896179833682.mp4"}
+{"uid":"10687994844997482924","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2331498313423432466.mp4"}
+{"uid":"7841279148775821504","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- pick the pen from the floor 3- put the pen in the pen holder 4- put the pen in the pen holder 5- Pick up the pen\n\u003c/PRED\u003e","video":"15792054074717458236.mp4"}
+{"uid":"13220745350319382016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16883723941540784120.mp4"}
+{"uid":"2288973178347729417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15162848102095809187.mp4"}
+{"uid":"7445341876005299408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck the orange 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":"101136487396377470.mp4"}
+{"uid":"16736042605675788307","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15848133087441461724.mp4"}
+{"uid":"12316865978558831175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14924880271423862106.mp4"}
+{"uid":"7145458073008416926","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the pen from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the pen from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the floor 2- put the pen in the pen holder 3- put the pen in the pen holder 4- Pick up the pen 5- Put the pen in the pen stand\n\u003c/PRED\u003e","video":"15150094396509018013.mp4"}
+{"uid":"4724234508290927689","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- put the pen in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"899648425947934855.mp4"}
+{"uid":"16082086979802813753","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder 10- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14742405963386045568.mp4"}
+{"uid":"17213806189245074156","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"5761297029764250592.mp4"}
+{"uid":"10865426303144050590","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen holder 3- pick the pen from the floor 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3183230781602957575.mp4"}
+{"uid":"8391079249846776480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"9639077025144079781.mp4"}
+{"uid":"8098436886671234412","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"6845978540650686930.mp4"}
+{"uid":"8326202787451736921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14053695346347930504.mp4"}
+{"uid":"1055102448430676450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11365140589972987150.mp4"}
+{"uid":"17019177257958623139","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- pick the pen from the floor 3- put the pen in the pen holder 4- put the pen in the pen holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5170623459108930548.mp4"}
+{"uid":"555890630803826939","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":"11620878128748549586.mp4"}
+{"uid":"1402092194315398453","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"15894794142165033778.mp4"}
+{"uid":"11050041069284641710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15177261571102720842.mp4"}
+{"uid":"10950844129952133970","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"15869127533670737259.mp4"}
+{"uid":"3927749500778737978","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":"2335326248673299634.mp4"}
+{"uid":"12742445102537363635","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen holder 3- put the pen in the pen holder 4- pick the pen from the floor 5- put the pen in the pen holder\n\u003c/PRED\u003e","video":"6643842420535279991.mp4"}
+{"uid":"3059652379963788154","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen 2- Put the pen in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder 9- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e","video":"7484140726322206284.mp4"}
+{"uid":"9309866896506584954","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"3467045715361447394.mp4"}
+{"uid":"2153462441334193574","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8311357051697305103.mp4"}
+{"uid":"10028557617568476145","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"840493883468295973.mp4"}
+{"uid":"6342921433649248987","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- Pick up the pen 3- Put the pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor 8- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"1121348327772637653.mp4"}
+{"uid":"4907122860694522850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3049462349085012336.mp4"}
+{"uid":"10527117563298690044","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"10571605513090662347.mp4"}
+{"uid":"4687845832473139987","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- pick the pen from the floor 3- put the pen in the pen holder 4- put the pen in the pen holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10386507703175639007.mp4"}
+{"uid":"6303559760111177138","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"13306370179358761672.mp4"}
+{"uid":"5050577056709694438","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the pen in the pen holder 3- Pick up the pen 4- Put the pen in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- Put the pen in the pen stand 2- put the pens in the pen holder 3- put the pen in the pen holder 4- put the pen in the pen holder 5- put the pen in the pen holder 6- put the pen in the pen holder 7- pick the pen from the floor Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"8132489366454340728.mp4"}
+{"uid":"17813486662509875556","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"6855936153567704812.mp4"}
+{"uid":"5894352308712737375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15567973084713185061.mp4"}
+{"uid":"12949146041365385404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana 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":"8333753526885473283.mp4"}
+{"uid":"14342864977691003774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the water bottle into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1862885444047349561.mp4"}
+{"uid":"2876238397440509522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the rope toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7990155058495035039.mp4"}
+{"uid":"2127016899232489242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12656820220808791878.mp4"}
+{"uid":"17209510118191108327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18227840178684915648.mp4"}
+{"uid":"4461200204805442647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrearrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14965881068526107852.mp4"}
+{"uid":"10151810359119999621","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box Q: immediate next step? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cards in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the cards in the box 2- put the cards in the box 3- close the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. Q: immediate next step? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e","video":"988155558003430458.mp4"}
+{"uid":"9752878490785864199","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e","video":"8852592092100568757.mp4"}
+{"uid":"7725062412537251275","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand 8- place the packet in the stand 9- place the packet in the stand 10- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand 8- place the packet in the stand 9- place the packet in the stand 10- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e","video":"2465609734659443251.mp4"}
+{"uid":"6252120846727050950","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cards in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14896684805029544118.mp4"}
+{"uid":"9375387299684255907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10310564357981227160.mp4"}
+{"uid":"7610251612225743215","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"5289205018671939266.mp4"}
+{"uid":"7370860418338529053","text":"\u003ctask:success:discrete:True\u003e\nPut the drawer on the slab Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 drawer on the slab\n\u003c/PRED\u003e","video":"10858751483663252626.mp4"}
+{"uid":"12401359786052562079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15161934585117898149.mp4"}
+{"uid":"6115612575814193764","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. Q: immediate next step? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cards in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cards in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box 2- put the cards in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the cards in the box 2- close the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box 2- put the cards in the box Q: immediate next step? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e","video":"2574425235690893617.mp4"}
+{"uid":"1094580823487910507","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Put the light blue marker on the slab\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the light blue marker on the slab\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the light blue marker on the slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the light blue marker on the slab\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the light blue marker on the slab 2- Put the dark blue marker on the slab 3- Close the drawer 4- Put the drawer on the slab 5- Put the yellow marker on the slab\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the light blue marker on the slab Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the light blue marker on the slab\n\u003c/PRED\u003e","video":"524485409695522995.mp4"}
+{"uid":"16370624527029090626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup packet paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11495847928380942340.mp4"}
+{"uid":"17051016916151731789","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box 2- put the cards in the box 3- put the cards in the box Q: immediate next step? \u003cPRED\u003eA: close the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. Q: immediate next step? \u003cPRED\u003eA: close the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box 2- put the cards in the box 3- put the cards in the box Q: next 5 steps? \u003cPRED\u003eA: 1- close the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15242881949214409755.mp4"}
+{"uid":"15994710905384806606","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker on the slab\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow marker on the slab Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker on the slab\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker on the slab\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker on the slab\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow marker on the slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker on the slab 2- Put the drawer in the shelf 3- Put the markers on the table 4- done\n\u003c/PRED\u003e","video":"3489148251840300758.mp4"}
+{"uid":"15604851854883025412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1501442575223446793.mp4"}
+{"uid":"3569672056254433362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10466440562971568306.mp4"}
+{"uid":"1906822277012682037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunfold the tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11251231677707706571.mp4"}
+{"uid":"9094471387186912552","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand 8- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand 8- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e","video":"18145559448672620904.mp4"}
+{"uid":"14358982352725375145","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Put the drawer on the slab 3- Put the yellow marker on the slab 4- Put the drawer in the shelf 5- Put the markers on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"3690891965691799455.mp4"}
+{"uid":"2327243488543585217","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e","video":"18362403799313097311.mp4"}
+{"uid":"5163204472902494469","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15813785823766483459.mp4"}
+{"uid":"7700229365183471787","text":"\u003ctask:success:discrete:False\u003e\nPut the dark blue marker on the slab Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 dark blue marker on the slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the dark blue marker on the slab\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Put the dark blue marker on the slab\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the dark blue marker on the slab\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab Q: next 5 steps? \u003cPRED\u003eA: 1- Put the dark blue marker on the slab 2- Close the drawer 3- Put the drawer on the slab 4- Put the yellow marker on the slab 5- Put the drawer in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab Q: immediate next step? \u003cPRED\u003eA: Put the dark blue marker on the slab\n\u003c/PRED\u003e","video":"13913920059106064827.mp4"}
+{"uid":"12365608553027805596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the choclate 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":"17386300118784166294.mp4"}
+{"uid":"15942650494316021118","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"686266732460667524.mp4"}
+{"uid":"17654236657083726122","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":"15561137532769275217.mp4"}
+{"uid":"12343204758398418055","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the markers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab 6- Put the yellow marker on the slab 7- Put the drawer in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Put the markers on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the markers 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: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab 6- Put the yellow marker on the slab 7- Put the drawer in the shelf Q: immediate next step? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e","video":"12262591600326852679.mp4"}
+{"uid":"13257417678332915990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14354687507345038211.mp4"}
+{"uid":"4535377463313433937","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand 8- place the packet in the stand 9- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand 8- place the packet in the stand 9- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3784712493147965168.mp4"}
+{"uid":"3503196676871140114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9867822487352685756.mp4"}
+{"uid":"10815888327170670711","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand\n\u003c/PRED\u003e","video":"2049046362204081605.mp4"}
+{"uid":"8500342260399721118","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11666943098542954182.mp4"}
+{"uid":"17857191627819047205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9500116309199032801.mp4"}
+{"uid":"17042237093088682794","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e","video":"2893956143994142338.mp4"}
+{"uid":"2619393261588097102","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e","video":"5983453825035084796.mp4"}
+{"uid":"7332046774414880764","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the drawer on the slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Put the drawer on the slab\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the drawer on the slab Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 drawer on the slab\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Put the drawer on the slab\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the drawer on the slab\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the drawer on the slab 2- Put the yellow marker on the slab 3- Put the drawer in the shelf 4- Put the markers on the table 5- done\n\u003c/PRED\u003e","video":"5478587043467391746.mp4"}
+{"uid":"2287951396241533163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6300713856865084002.mp4"}
+{"uid":"17207092636495488637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2908516054554043133.mp4"}
+{"uid":"14475429431016651887","text":"\u003ctask:success:discrete:True\u003e\nPut the markers 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: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab 6- Put the yellow marker on the slab 7- Put the drawer in the shelf 8- Put the markers on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab 6- Put the yellow marker on the slab 7- Put the drawer in the shelf 8- Put the markers on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e","video":"17358253786315814134.mp4"}
+{"uid":"17729027700529045226","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13223765978825397846.mp4"}
+{"uid":"4627583630156268245","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cards in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10326967322066719618.mp4"}
+{"uid":"10008851987198147572","text":"\u003ctask:success:discrete:False\u003e\nPut the drawer in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the drawer in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room Q: immediate next step? \u003cPRED\u003eA: Put the drawer in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab 6- Put the yellow marker on the slab Q: immediate next step? \u003cPRED\u003eA: Put the drawer in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the drawer in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a few highlighters and bring them to the phone room. last 20 steps: 1- Open the drawer 2- Put the light blue marker on the slab 3- Put the dark blue marker on the slab 4- Close the drawer 5- Put the drawer on the slab 6- Put the yellow marker on the slab Q: next 5 steps? \u003cPRED\u003eA: 1- Put the drawer in the shelf 2- Put the markers on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the drawer in the shelf\n\u003c/PRED\u003e","video":"10459119801782443997.mp4"}
+{"uid":"3709169996112434909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9884756170978981109.mp4"}
+{"uid":"11694497083316076507","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand Q: immediate next step? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- place the packet in the stand 5- place the packet in the stand 6- place the packet in the stand 7- place the packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the stand 2- place the packet in the stand 3- place the packet in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the stand\n\u003c/PRED\u003e","video":"1367477254805191705.mp4"}
+{"uid":"10697223757823900358","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cards in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14492493187785225442.mp4"}
+{"uid":"12031631495844544986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13239729298964025173.mp4"}
+{"uid":"8531577875271935096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13318517113903205561.mp4"}
+{"uid":"7892948219087202530","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. Q: immediate next step? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the cards in the box 2- put the cards in the box 3- put the cards in the box 4- close the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the cards in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cards in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cards in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12634077320589706708.mp4"}
+{"uid":"4787275688779101682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the star shape block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6892191920192892717.mp4"}
+{"uid":"5518923288124428707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7817248001586600224.mp4"}
+{"uid":"8672265127153877688","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box 2- put the cards in the box 3- put the cards in the box 4- close the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the playing cards back in the box. last 20 steps: 1- put the cards in the box 2- put the cards in the box 3- put the cards in the box 4- close the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the box\n\u003c/PRED\u003e","video":"13844550761598376609.mp4"}
+{"uid":"16921429169467140363","text":"\u003ctask:success:discrete:True\u003e\nPut the drawer in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the drawer in the shelf\n\u003c/PRED\u003e","video":"16925286578236415968.mp4"}
+{"uid":"5661395283719078327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notepad 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":"16505127054716115089.mp4"}
+{"uid":"4392206773314186753","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop apple into bowl 3- drop the apple into the bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7210613100195555602.mp4"}
+{"uid":"7791129465627757340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17082315225801675983.mp4"}
+{"uid":"922225849465740817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13728833274771822575.mp4"}
+{"uid":"8848002976181916540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown chip packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11347301198832587707.mp4"}
+{"uid":"15522837034301868080","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"7716516829854946171.mp4"}
+{"uid":"2162117879371269837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2822392299487694706.mp4"}
+{"uid":"740972337090951982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4131500638411689477.mp4"}
+{"uid":"1955770816262010718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6724129854141055912.mp4"}
+{"uid":"4728556683601926183","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- drop apple into bowl 4- drop apple into bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"1458288432984829274.mp4"}
+{"uid":"9858718088914502789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12929261411213865527.mp4"}
+{"uid":"18126074958937930471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11334438768380297530.mp4"}
+{"uid":"1026847465716581887","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":"12442628811783764218.mp4"}
+{"uid":"3811785473728929221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black duster on the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10876921923518892683.mp4"}
+{"uid":"10260101368376369299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10731718258877630368.mp4"}
+{"uid":"6805328093444432217","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl 9- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl 9- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9632654177791075106.mp4"}
+{"uid":"1077044181697179537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7713128904234448593.mp4"}
+{"uid":"5935248343170615845","text":"\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"7022407128330056648.mp4"}
+{"uid":"949869876690413492","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop apple into bowl 3- drop the apple into the bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"4258957694754904342.mp4"}
+{"uid":"11004216563402509087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6976513850367945362.mp4"}
+{"uid":"524189654657937763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"342578691451507376.mp4"}
+{"uid":"114164841781412193","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"1232712305931536775.mp4"}
+{"uid":"18329049949691395161","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e","video":"18119303881356160742.mp4"}
+{"uid":"16334864243994542199","text":"\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"12982838706450690796.mp4"}
+{"uid":"11869155372945972872","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"879300653941606885.mp4"}
+{"uid":"926134071206424684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"187251463083227393.mp4"}
+{"uid":"8898752588814824448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17349107208401261131.mp4"}
+{"uid":"12565168737297702828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17771894002948250186.mp4"}
+{"uid":"16759807979530006314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2828227828690449671.mp4"}
+{"uid":"9291594257383704266","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop the apple into the bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"12414389000971343480.mp4"}
+{"uid":"9672966922192467301","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":"8876783150481285302.mp4"}
+{"uid":"12765991692883571255","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- drop apple into bowl 4- drop apple into bowl 5- done\n\u003c/PRED\u003e","video":"2049932281059617272.mp4"}
+{"uid":"2621890226084219177","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"16834665968479324963.mp4"}
+{"uid":"4561850090670909003","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"12801301894119003043.mp4"}
+{"uid":"17865655135566603399","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- done\n\u003c/PRED\u003e","video":"11759061353704761663.mp4"}
+{"uid":"596181438855619594","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop apple into bowl 3- drop the apple into the bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14845870778991106555.mp4"}
+{"uid":"14969845010553979766","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop apple into bowl 3- drop apple into bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13516978457012106765.mp4"}
+{"uid":"16686937537372599671","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"5121723324228893533.mp4"}
+{"uid":"15557640149167812590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown toy into the white 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":"8359800706841537356.mp4"}
+{"uid":"12318513115899590240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10877190898228620379.mp4"}
+{"uid":"9763356625311813109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14871679368883260565.mp4"}
+{"uid":"5123582934909452784","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop apple into bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"17849541100421362164.mp4"}
+{"uid":"17289355439177367882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio nut 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":"7584620796086913670.mp4"}
+{"uid":"5614977675610296496","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- drop apple into bowl 4- drop apple into bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"7326976219888347506.mp4"}
+{"uid":"13947177465849351977","text":"\u003ctask:success:discrete:False\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"11727955082736984769.mp4"}
+{"uid":"12340949783980366888","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12078439456617233536.mp4"}
+{"uid":"12455568637581002951","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop the apple into the bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"1717842906080300471.mp4"}
+{"uid":"13275849268757302182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15252921403003738516.mp4"}
+{"uid":"4115057899749726561","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop apple into bowl 3- drop apple into bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"7394411673196214715.mp4"}
+{"uid":"17314496609541890375","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop apple into bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"10536419834233283378.mp4"}
+{"uid":"16128479936484362229","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8531512168832054217.mp4"}
+{"uid":"14225111231200479941","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"13943607248715922233.mp4"}
+{"uid":"5144412509559617263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5611027728510421415.mp4"}
+{"uid":"6636063824805293766","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl 8- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- done\n\u003c/PRED\u003e","video":"17542068881984775845.mp4"}
+{"uid":"11102315660584760908","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6108924194583125292.mp4"}
+{"uid":"14670076898939129979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16797374429112296462.mp4"}
+{"uid":"16372740965048605716","text":"\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e","video":"16426477532426521377.mp4"}
+{"uid":"2802406120271804893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pen in a left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14993202972117346728.mp4"}
+{"uid":"12364659297610113371","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11282695019276579830.mp4"}
+{"uid":"7572695916657565885","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl 6- drop apple into bowl 7- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop apple into bowl 3- done\n\u003c/PRED\u003e","video":"9425990177133783311.mp4"}
+{"uid":"7508258740238006781","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl 2- drop apple into bowl 3- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop the apple into the bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"18222827923761122710.mp4"}
+{"uid":"3974590041129326039","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop apple into bowl 3- drop apple into bowl 4- drop apple into bowl 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples back into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples back into the bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5447646668898836832.mp4"}
+{"uid":"932330546676141007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2173953684425808343.mp4"}
+{"uid":"6206367224318912836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5612092366293811550.mp4"}
+{"uid":"8011495581601733336","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":"16435296777693134184.mp4"}
+{"uid":"3752521302150891476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the umbrella on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7245283885465186019.mp4"}
+{"uid":"7736668027939608724","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the pistachios Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- grab the pistachios 2- put the pistachios in the cup 3- grab the pistachios 4- put the pistachios in the cup 5- put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the pistachios Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"373654349240744172.mp4"}
+{"uid":"4795311453905083175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paperclip into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16998628410346561646.mp4"}
+{"uid":"877290585322449857","text":"\u003ctask:success:discrete:True\u003e\nunstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e","video":"14870543978323353486.mp4"}
+{"uid":"11267053402380437841","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put the green plate on the stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green plate on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put the green plate on the stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7446953298369835262.mp4"}
+{"uid":"18060494927109239388","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios 12- put the pistachios in the cup 13- put the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios 12- put the pistachios in the cup 13- put the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12827426115714251816.mp4"}
+{"uid":"13980201834192896708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9453949313982101758.mp4"}
+{"uid":"15543777414294137615","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack Q: next 5 steps? \u003cPRED\u003eA: 1- Place the  second plates on first plate 2- put the red glass to the right side of the table 3- put the pink plate on the stack of plates 4- put all the plates to edge of table 5- put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the  second plates on first plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the  second plates on first plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the  second plates on first plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: Place the  second plates on first plate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the  second plates on first plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack Q: immediate next step? \u003cPRED\u003eA: Place the  second plates on first plate\n\u003c/PRED\u003e","video":"18416402823708916345.mp4"}
+{"uid":"9781372669925968366","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another plate on stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put another plate on stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput another plate on stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput another plate on stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack Q: next 5 steps? \u003cPRED\u003eA: 1- put another plate on stack 2- put the red glass to the right side of the table 3- put the pink plate on the stack of plates 4- put all the plates to edge of table 5- put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack Q: immediate next step? \u003cPRED\u003eA: put another plate on stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another plate on stack\n\u003c/PRED\u003e","video":"15012089458125013683.mp4"}
+{"uid":"5393490668400238968","text":"\u003ctask:success:discrete:False\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"7093637974464942482.mp4"}
+{"uid":"15344189870620682108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17989365485055263553.mp4"}
+{"uid":"12727826549832150366","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachios in the cup 2- grab the pistachios 3- put the pistachios in the cup 4- grab the pistachios 5- put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e","video":"7455337889094840305.mp4"}
+{"uid":"10603572433200860813","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e","video":"13167369313698108897.mp4"}
+{"uid":"16336477988451134862","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass in a line 2- put the pink plate on the stack of plates 3- put all the plates to edge of table 4- put the green plate on the stack 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace glass in a line Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 glass in a line\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass in a line\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack Q: immediate next step? \u003cPRED\u003eA: Place glass in a line\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: Place glass in a line\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass in a line Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10599578212249361817.mp4"}
+{"uid":"9355756655106790084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9948402619522456955.mp4"}
+{"uid":"9130785460111337522","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlacing plates in a sequence Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: Placing plates in a sequence\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Placing plates in a sequence\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Placing plates in a sequence\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlacing plates in a sequence Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: stack plates. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Placing plates in a sequence 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put all the plates to edge of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Placing plates in a sequence\n\u003c/PRED\u003e","video":"16259867122475284165.mp4"}
+{"uid":"3027223255199132644","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the pistachios Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- grab the pistachios 2- put the pistachios in the cup 3- put the scoop in the holder 4- close the lid 5- done\n\u003c/PRED\u003e","video":"7158843403285883739.mp4"}
+{"uid":"14892142101825850319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue duck 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":"15213316700490734512.mp4"}
+{"uid":"10454116665090830208","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":"668711606811273777.mp4"}
+{"uid":"275492270704936299","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the third plate on top of the other plates.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the third plate on top of the other plates.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the third plate on top of the other plates. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the third plate on top of the other plates. 2- put all the plates to edge of table 3- put the green plate on the stack 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: Place the third plate on top of the other plates.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the third plate on top of the other plates. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table Q: immediate next step? \u003cPRED\u003eA: Place the third plate on top of the other plates.\n\u003c/PRED\u003e","video":"9220510671298876157.mp4"}
+{"uid":"4355254144699714006","text":"\u003ctask:success:discrete:False\u003e\nPlace the last plate on top of the other plates. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the last plate on top of the other plates.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the last plate on top of the other plates.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put all the plates to edge of table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the last plate on top of the other plates. 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put all the plates to edge of table Q: immediate next step? \u003cPRED\u003eA: Place the last plate on top of the other plates.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the last plate on top of the other plates. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: Place the last plate on top of the other plates.\n\u003c/PRED\u003e","video":"6287640449236372193.mp4"}
+{"uid":"17530761131716045762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5114950283430049174.mp4"}
+{"uid":"1321561032542879390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the 2nd number snookers ball from the snookers board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12128295973312033084.mp4"}
+{"uid":"4918669710013803775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7673116533929271740.mp4"}
+{"uid":"7929168950226549695","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates Q: immediate next step? \u003cPRED\u003eA: put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green plate on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates Q: next 5 steps? \u003cPRED\u003eA: 1- put the green plate on the stack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green plate on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the green plate on the stack\n\u003c/PRED\u003e","video":"4933315614102908819.mp4"}
+{"uid":"9673669604243227542","text":"\u003ctask:success:discrete:True\u003e\nput the pink plate on the stack of plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pink plate on the stack of plates\n\u003c/PRED\u003e","video":"9267125933075552468.mp4"}
+{"uid":"272604313560017855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8092593030430536748.mp4"}
+{"uid":"14435780150757310790","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16694033619129205105.mp4"}
+{"uid":"3186615931123621635","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack Q: next 5 steps? \u003cPRED\u003eA: 1- put the cream color plate in stacked plates 2- put the red glass to the right side of the table 3- put the pink plate on the stack of plates 4- put all the plates to edge of table 5- put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the cream color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack Q: immediate next step? \u003cPRED\u003eA: put the cream color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cream color plate in stacked plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cream color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cream color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cream color plate in stacked plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17114268820177804243.mp4"}
+{"uid":"7149292359083570839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15257450727179830772.mp4"}
+{"uid":"13074776228713585598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the bottle in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"583720144610527723.mp4"}
+{"uid":"12418623271583522274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- grab the pistachios 2- put the pistachios in the cup 3- grab the pistachios 4- put the pistachios in the cup 5- grab the pistachios\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the pistachios Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the pistachios Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e","video":"2060116806760775817.mp4"}
+{"uid":"11902293910319758801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11486614453543111033.mp4"}
+{"uid":"17882789080196605664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1150739251322671325.mp4"}
+{"uid":"3675024182506196775","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack Q: immediate next step? \u003cPRED\u003eA: put the orange glass in a queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange glass in a queue 2- put all the plates to edge of table 3- put the green plate on the stack 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange glass in a queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange glass in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the orange glass in a queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange glass in a queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange glass in a queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13434633551010758062.mp4"}
+{"uid":"8352650764065844837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1697140535505729591.mp4"}
+{"uid":"6199800272299397349","text":"\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"1569765782321099163.mp4"}
+{"uid":"7558568450549498072","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee on the table from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15436278853336518729.mp4"}
+{"uid":"1527309738969780646","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink plate on the stack of plates\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink plate on the stack of plates\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink plate on the stack of plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink plate on the stack of plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table Q: immediate next step? \u003cPRED\u003eA: put the pink plate on the stack of plates\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the pink plate on the stack of plates\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink plate on the stack of plates 2- put all the plates to edge of table 3- put the green plate on the stack 4- done\n\u003c/PRED\u003e","video":"1361612808285380992.mp4"}
+{"uid":"10393632684463683636","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: Put the plates on stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plates on stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plates on stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the plates on stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plates on stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plates on stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put all the plates to edge of table\n\u003c/PRED\u003e","video":"3192216011802176615.mp4"}
+{"uid":"9611834673664506823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch the orange snack 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":"11897661879125769620.mp4"}
+{"uid":"11274406527928483442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11091887897145803850.mp4"}
+{"uid":"545808796711957659","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put another plate on stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput another plate on stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5647718515524869923.mp4"}
+{"uid":"15515594304339445642","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachios in the cup 2- grab the pistachios 3- put the pistachios in the cup 4- put the scoop in the holder 5- close the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e","video":"4647461723670197781.mp4"}
+{"uid":"11075042963649286069","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack Q: immediate next step? \u003cPRED\u003eA: put the red glass to the right side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the red glass to the right side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack Q: next 5 steps? \u003cPRED\u003eA: 1- put the red glass to the right side of the table 2- put the pink plate on the stack of plates 3- put all the plates to edge of table 4- put the green plate on the stack 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red glass to the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red glass to the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red glass to the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red glass to the right side of the table\n\u003c/PRED\u003e","video":"13090933915071797990.mp4"}
+{"uid":"3581169652367293398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3008417493483170987.mp4"}
+{"uid":"1434779776461627068","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios 12- put the pistachios in the cup 13- put the scoop in the holder 14- close the lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios 12- put the pistachios in the cup 13- put the scoop in the holder 14- close the lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9635642062071597672.mp4"}
+{"uid":"11948960798830045845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10429522632443879493.mp4"}
+{"uid":"5198191937097940455","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- place the scoop in the jar 3- grab the pistachios 4- put the pistachios in the cup 5- grab the pistachios\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e","video":"15803031656930565260.mp4"}
+{"uid":"4425400505636629536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11936916072507745710.mp4"}
+{"uid":"8463384741524033035","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the salmon color plate in purple color plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the salmon color plate in purple color plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the salmon color plate in purple color plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the salmon color plate in purple color plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the salmon color plate in purple color plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the salmon color plate in purple color plate 2- put the red glass to the right side of the table 3- put the pink plate on the stack of plates 4- put all the plates to edge of table 5- put the green plate on the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the salmon color plate in purple color plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3696325070592622998.mp4"}
+{"uid":"4558290303399921571","text":"\u003ctask:success:discrete:False\u003e\nplace the scoop in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid Q: immediate next step? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scoop in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the jar 2- grab the pistachios 3- put the pistachios in the cup 4- grab the pistachios 5- put the pistachios in the cup\n\u003c/PRED\u003e","video":"11438338776321568102.mp4"}
+{"uid":"3233573044358111406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3810693338571861303.mp4"}
+{"uid":"4508754473747383133","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachios in the cup 2- grab the pistachios 3- put the pistachios in the cup 4- grab the pistachios 5- put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e","video":"9678519265045029549.mp4"}
+{"uid":"13566175009168087611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bag 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":"1402773889674341687.mp4"}
+{"uid":"7743863962004025423","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue plate in stacked plates\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put all the plates to edge of table Q: immediate next step? \u003cPRED\u003eA: put the blue plate in stacked plates\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates 5- put all the plates to edge of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue plate in stacked plates 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the blue plate in stacked plates\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue plate in stacked plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 plate in stacked plates\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue plate in stacked plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8260236153620624470.mp4"}
+{"uid":"14838418132734166763","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios 12- put the pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the scoop in the holder 2- close the lid 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scoop 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: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios 12- put the pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scoop 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 scoop in the holder\n\u003c/PRED\u003e","video":"16554565436054063836.mp4"}
+{"uid":"10953830003058610597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pink candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8074726620496948690.mp4"}
+{"uid":"6283966514034866605","text":"\u003ctask:success:discrete:False\u003e\nput the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar 5- grab the pistachios 6- put the pistachios in the cup 7- grab the pistachios 8- put the pistachios in the cup 9- grab the pistachios 10- put the pistachios in the cup 11- grab the pistachios Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachios in the cup 2- put the scoop in the holder 3- close the lid 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachios in the cup\n\u003c/PRED\u003e","video":"12712455123049362081.mp4"}
+{"uid":"8988188160649489339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the right side piece of sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18082099127723704676.mp4"}
+{"uid":"8554905523238045679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates Q: immediate next step? \u003cPRED\u003eA: put all the plates to edge of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put all the plates to edge of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table 4- put the pink plate on the stack of plates Q: next 5 steps? \u003cPRED\u003eA: 1- put all the plates to edge of table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put all the plates to edge of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput all the plates to edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 all the plates to edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put all the plates to edge of table\n\u003c/PRED\u003e","video":"14679399776078142764.mp4"}
+{"uid":"17971174234617482916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3529461452823041252.mp4"}
+{"uid":"13376593016915743195","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- grab the pistachios 2- put the pistachios in the cup 3- grab the pistachios 4- put the pistachios in the cup 5- grab the pistachios\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the pistachios Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl. last 20 steps: 1- unstack the cups 2- stack the cup 3- open the lid 4- place the scoop in the jar Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the pistachios Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please get me four scoops of pistachios in a bowl Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e","video":"14807103069531368161.mp4"}
+{"uid":"2553539108454009716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4611319194978925260.mp4"}
+{"uid":"17311247988134505484","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack plates Q: immediate next step? \u003cPRED\u003eA: put the orange color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange color plate in stacked plates 2- put all the plates to edge of table 3- put the green plate on the stack 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack plates. last 20 steps: 1- Put the plates on stack 2- put another plate on stack 3- put the red glass to the right side of the table Q: immediate next step? \u003cPRED\u003eA: put the orange color plate in stacked plates\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange color plate in stacked plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange color plate in stacked plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4517464326981989572.mp4"}
+{"uid":"12969418823980090295","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet 9- Move your arm to the thermocol sheet on the floor 10- Drop the thermocol sheet 11- Pick the thermocol sheet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet 9- Move your arm to the thermocol sheet on the floor 10- Drop the thermocol sheet 11- Pick the thermocol sheet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9046375340850289306.mp4"}
+{"uid":"15973487525602571261","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the thermocol sheet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 thermocol sheet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet 9- Move your arm to the thermocol sheet on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the thermocol sheet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the thermocol sheet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet 9- Move your arm to the thermocol sheet on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the thermocol sheet 2- Pick the thermocol sheet 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the thermocol sheet\n\u003c/PRED\u003e","video":"15620583424221556017.mp4"}
+{"uid":"6732803886149319145","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper 2- Pick up the tissue paper 3- Put the tissue papers on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e","video":"14410853534376076064.mp4"}
+{"uid":"16818416048375349101","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet 9- Move your arm to the thermocol sheet on the floor 10- Drop the thermocol sheet Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the thermocol sheet 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the thermocol sheet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet 9- Move your arm to the thermocol sheet on the floor 10- Drop the thermocol sheet Q: immediate next step? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9938538186380306767.mp4"}
+{"uid":"15423855910893219765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12589797167925240205.mp4"}
+{"uid":"2181026787073298214","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8353461591968012194.mp4"}
+{"uid":"17646588782781138918","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the thermocol sheet on the floor 2- Move towards the thermocol sheets on the table 3- Grab the thermocol sheets 4- Drop the thermocol sheets on the floor 5- Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the thermocol sheet on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet Q: immediate next step? \u003cPRED\u003eA: Place the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Place the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the thermocol sheet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the thermocol sheet on the floor\n\u003c/PRED\u003e","video":"4830851517787450525.mp4"}
+{"uid":"11069908271284413111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue box 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":"1500315401042196326.mp4"}
+{"uid":"13842900976477241982","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the thermocol sheet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4193898201308101338.mp4"}
+{"uid":"13388137552375227905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13445035368368640708.mp4"}
+{"uid":"5363257085297307780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"976186430714865844.mp4"}
+{"uid":"14524868595024598018","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the Pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9730768239507473294.mp4"}
+{"uid":"8386934776915955258","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":"17520816451503999731.mp4"}
+{"uid":"852684879299752228","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the thermocol sheet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 thermocol sheet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 thermocol sheet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e","video":"5456113527504356616.mp4"}
+{"uid":"18246165305490043361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16515415858186060190.mp4"}
+{"uid":"1301145906701611682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the banana peel on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14952685926406184181.mp4"}
+{"uid":"3875039985384064154","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm to the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm to the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm to the thermocol sheet on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm to the thermocol sheet on the floor 2- Drop the thermocol sheet 3- Pick the thermocol sheet 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table 8- Lift the thermocol sheet Q: immediate next step? \u003cPRED\u003eA: Move your arm to the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm to the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm to the thermocol sheet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"924880064589272130.mp4"}
+{"uid":"13855423136018622775","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the thermocol sheets on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the thermocol sheets on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the thermocol sheets on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets Q: immediate next step? \u003cPRED\u003eA: Drop the thermocol sheets on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the thermocol sheets on the floor 2- Pick the thermocol sheet 3- Move to the table 4- Lift the thermocol sheet 5- Move your arm to the thermocol sheet on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the thermocol sheets on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the thermocol sheets on the floor\n\u003c/PRED\u003e","video":"6976662906488341540.mp4"}
+{"uid":"16238537246494717776","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table 2- Pick up the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper 2- Put the tissue papers on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table 2- Pick up the tissue paper Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e","video":"8251108533987456596.mp4"}
+{"uid":"8221378178904878001","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table Q: immediate next step? \u003cPRED\u003eA: Grab the thermocol sheets\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Grab the thermocol sheets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the thermocol sheets 2- Drop the thermocol sheets on the floor 3- Pick the thermocol sheet 4- Move to the table 5- Lift the thermocol sheet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the thermocol sheets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the thermocol sheets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Grab the thermocol sheets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the thermocol sheets\n\u003c/PRED\u003e","video":"5329433299370322399.mp4"}
+{"uid":"10497117424451320777","text":"\u003ctask:success:discrete:True\u003e\nPick the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 thermocol sheet\n\u003c/PRED\u003e","video":"1078405193569092622.mp4"}
+{"uid":"5905955893312682633","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- pour water in the sink 3- throw the cup in the trash bin 4- done\n\u003c/PRED\u003e","video":"9367457903501982724.mp4"}
+{"uid":"4120657474977940382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow candy in left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13642114477825683917.mp4"}
+{"uid":"7091391710846255602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5897457988151909506.mp4"}
+{"uid":"6811995466746211303","text":"\u003ctask:success:discrete:True\u003e\nLift the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the thermocol sheet\n\u003c/PRED\u003e","video":"2294418555826808267.mp4"}
+{"uid":"10220191843111125805","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":"15745185512871082437.mp4"}
+{"uid":"1094941506263112760","text":"\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"6915608640605655951.mp4"}
+{"uid":"979114381369834569","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: 1- pick up the cup 2- pour water in the sink 3- throw the cup in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the cup in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: 1- pick up the cup 2- pour water in the sink 3- throw the cup in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e","video":"17669847056295996335.mp4"}
+{"uid":"4799816803494748918","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the thermocol sheets on the table 2- Grab the thermocol sheets 3- Drop the thermocol sheets on the floor 4- Pick the thermocol sheet 5- Move to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the thermocol sheets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the thermocol sheets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 thermocol sheets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Move towards the thermocol sheets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the thermocol sheets 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: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor Q: immediate next step? \u003cPRED\u003eA: Move towards the thermocol sheets on the table\n\u003c/PRED\u003e","video":"6128577259848958811.mp4"}
+{"uid":"1847505703279922248","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the thermocol sheets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the thermocol sheets 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":"6298958153056794921.mp4"}
+{"uid":"6920446501637408987","text":"\u003ctask:success:discrete:True\u003e\nGrab the thermocol sheets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the thermocol sheets\n\u003c/PRED\u003e","video":"13231080936145898784.mp4"}
+{"uid":"1677612879002629159","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: pour water in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour water in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: 1- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pour water in the sink 2- throw the cup in the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour water in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: 1- pick up the cup Q: immediate next step? \u003cPRED\u003eA: pour water in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour water in the sink\n\u003c/PRED\u003e","video":"3467121223376614709.mp4"}
+{"uid":"2402983655988583769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo back to the room again Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8477878200116819800.mp4"}
+{"uid":"8634756658948797851","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table 2- Pick up the tissue paper 3- Pick up the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue papers on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. Q: immediate next step? \u003cPRED\u003eA: Put the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table 2- Pick up the tissue paper 3- Pick up the tissue paper Q: immediate next step? \u003cPRED\u003eA: Put the tissue papers on the table\n\u003c/PRED\u003e","video":"7508904299289370055.mp4"}
+{"uid":"16066964046135907032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the book lie down in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12920764526287740795.mp4"}
+{"uid":"1814330634098449815","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor Q: immediate next step? \u003cPRED\u003eA: Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the thermocol sheet 2- Move to the table 3- Lift the thermocol sheet 4- Move your arm to the thermocol sheet on the floor 5- Drop the thermocol sheet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 thermocol sheet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the thermocol sheet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8742439217851237929.mp4"}
+{"uid":"11287801303585405843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass on stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3131565218268180369.mp4"}
+{"uid":"1465213790261537141","text":"\u003ctask:success:discrete:True\u003e\nMove your arm to the thermocol sheet on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm to the thermocol sheet on the floor\n\u003c/PRED\u003e","video":"6652652978902082973.mp4"}
+{"uid":"10940165266204237823","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the thermocol sheet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the thermocol sheet 2- Move your arm to the thermocol sheet on the floor 3- Drop the thermocol sheet 4- Pick the thermocol sheet 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Lift the thermocol sheet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the thermocol sheet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the thermocol sheet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the thermocol sheet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet 7- Move to the table Q: immediate next step? \u003cPRED\u003eA: Lift the thermocol sheet\n\u003c/PRED\u003e","video":"5907130430692898716.mp4"}
+{"uid":"2980317214401345342","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour water in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10001494920802993829.mp4"}
+{"uid":"15577376707007915176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10532607468136764051.mp4"}
+{"uid":"11485009600923384419","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue papers on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table 2- Pick up the tissue paper 3- Pick up the tissue paper 4- Put the tissue papers on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissue papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: 1- Put the banana on the table 2- Pick up the tissue paper 3- Pick up the tissue paper 4- Put the tissue papers on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"155092041552510180.mp4"}
+{"uid":"13577869308399357699","text":"\u003ctask:success:discrete:False\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Lift the thermocol sheet 3- Move your arm to the thermocol sheet on the floor 4- Drop the thermocol sheet 5- Pick the thermocol sheet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up styrofoam from the desk and place them on the floor. last 20 steps: 1- Pick the thermocol sheet 2- Place the thermocol sheet on the floor 3- Move towards the thermocol sheets on the table 4- Grab the thermocol sheets 5- Drop the thermocol sheets on the floor 6- Pick the thermocol sheet Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"13214933605370721188.mp4"}
+{"uid":"17172373871046792431","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":"3262591831549278502.mp4"}
+{"uid":"6393945869625390440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate bar 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":"7543047268403716465.mp4"}
+{"uid":"13185758413539136182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6321373253937718711.mp4"}
+{"uid":"1456045807243782575","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: 1- pick up the cup 2- pour water in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the cup in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the water anymore. can you pour the water into the sink and then throw the cup away. last 20 steps: 1- pick up the cup 2- pour water in the sink Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9410381088859394322.mp4"}
+{"uid":"3894477993736572547","text":"\u003ctask:success:discrete:False\u003e\nPut the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- Pick up the tissue paper 3- Pick up the tissue paper 4- Put the tissue papers on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring a banana and a napkin to my table in mk. Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e","video":"1041533998557286394.mp4"}
+{"uid":"14671205212340855652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12889716953526218412.mp4"}