diff --git "a/json/train/data-00039-of-00160.json" "b/json/train/data-00039-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00039-of-00160.json"
@@ -0,0 +1,725 @@
+{"uid":"16558902287319502203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1513079389281830437.mp4"}
+{"uid":"6866405660359788455","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick 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","video":"7378836780007591276.mp4"}
+{"uid":"13872398316593766830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pouch  on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16792836272570310715.mp4"}
+{"uid":"2119122582682033711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16188439617733459625.mp4"}
+{"uid":"16069365387973374597","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on 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":"1183316086471206864.mp4"}
+{"uid":"6406528496933034584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen on the notebook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4775775405882903831.mp4"}
+{"uid":"435040203417890732","text":"\u003ctask:success:discrete:False\u003e\nrelease the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- release the sticky note 2- drop the sticky notes in the black tray 3- pick the sticky note 4- drop the sticky note in the tray 5- pick the binder clip\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: release the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: release the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the sticky note\n\u003c/PRED\u003e","video":"11732706952721603855.mp4"}
+{"uid":"6352601930393517494","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky note 2- pick the pen 3- drop the pen in the holder 4- pick the pen 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11171564064818380926.mp4"}
+{"uid":"13719359537266777424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4893118584043350560.mp4"}
+{"uid":"7440023143750039978","text":"\u003ctask:success:discrete:False\u003e\nput the sticky notes 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 sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes in the tray 2- drop the sticky notes in the black tray 3- pick the sticky note 4- drop the sticky note in the tray 5- pick the binder clip\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes 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 sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the tray\n\u003c/PRED\u003e","video":"18202355994530611938.mp4"}
+{"uid":"12130099141542782637","text":"\u003ctask:success:discrete:False\u003e\ndrop the sticky note 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: drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky note in the tray 2- drop the sticky note in the tray 3- pick the binder clip 4- drop the binder clip in the black tray 5- pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky note 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":"5112789932821570296.mp4"}
+{"uid":"11927272351597382157","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky notes in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes in the black tray 2- pick the binder clip 3- drop the binder clip in the black tray 4- pick the pen 5- drop 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 sticky notes in the black tray\n\u003c/PRED\u003e","video":"3013042479853447664.mp4"}
+{"uid":"5878186248887958856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet of balls on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18416686997368224766.mp4"}
+{"uid":"9273072679820364196","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3019601995420794879.mp4"}
+{"uid":"13576814525211441063","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":"12172673794255755868.mp4"}
+{"uid":"9404335265715336878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6560855294451584875.mp4"}
+{"uid":"4734193702838101637","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clip in the black tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clip in the black tray 2- pick the pen 3- drop the pen in the holder 4- pick the pen 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the binder clip in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the binder clip in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the binder clip in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip Q: immediate next step? \u003cPRED\u003eA: drop the binder clip in the black tray\n\u003c/PRED\u003e","video":"2666839175691769917.mp4"}
+{"uid":"17544049458756951100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the object in the glass pot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11378164660168357939.mp4"}
+{"uid":"16568387989063461868","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange 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 orange pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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":"3445137970242702650.mp4"}
+{"uid":"934533125614898537","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop 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: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the holder 2- adjust the pen in the holder 3- done\n\u003c/PRED\u003e","video":"5821646277366745646.mp4"}
+{"uid":"10101794165572684058","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e","video":"5592319396807769628.mp4"}
+{"uid":"12863191997216568567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the dna toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13617715477537642270.mp4"}
+{"uid":"15971733929243365543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: place the sticky notes upon the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes upon the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes upon the sticky notes 2- drop the binder clip in the black tray 3- pick the pen 4- drop the pen in the holder 5- pick the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: immediate next step? \u003cPRED\u003eA: place the sticky notes upon the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes upon the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes upon the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes upon the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12721831643272679437.mp4"}
+{"uid":"3701110224622846020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5733975118425617204.mp4"}
+{"uid":"10773811073354668251","text":"\u003ctask:success:discrete:True\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e","video":"1186625244432328627.mp4"}
+{"uid":"6063796738956859210","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":"12475278722320702456.mp4"}
+{"uid":"3925817274794174198","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":"2381810823872388947.mp4"}
+{"uid":"18376232695284097498","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky note 2- pick the sticky note 3- drop the sticky note in the tray 4- pick the binder clip 5- drop the binder clip in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e","video":"6605616226650411488.mp4"}
+{"uid":"16990703771090709666","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen 13- drop the pen in the 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:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: adjust the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen 13- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: adjust the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen 13- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen 13- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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: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":"797249137690361821.mp4"}
+{"uid":"2356239034270351792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candies 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":"7442362156732622865.mp4"}
+{"uid":"15629629146729491816","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky note 2- pick the binder clip 3- drop the binder clip in the black tray 4- pick the pen 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e","video":"2738851871168336536.mp4"}
+{"uid":"1636449615732478422","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop 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":"2939551737144965207.mp4"}
+{"uid":"16790913761106254807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen 13- put the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder 12- pick the orange pen 13- put the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11584699333664596247.mp4"}
+{"uid":"2928475386825634848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown object 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":"7445819072056057949.mp4"}
+{"uid":"10490136229849701198","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper holder in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip Q: immediate next step? \u003cPRED\u003eA: drop the paper holder in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper holder 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: drop the paper holder in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the paper holder in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper holder in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper holder in the tray 2- drop the pen in the holder 3- pick the pen 4- drop the pen in the holder 5- pick the orange pen\n\u003c/PRED\u003e","video":"17258258347065316603.mp4"}
+{"uid":"3784872510597461297","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the holder 2- pick the orange pen 3- drop the pen in the holder 4- adjust the pen in the holder 5- done\n\u003c/PRED\u003e","video":"4608603075019886902.mp4"}
+{"uid":"12292522447407798776","text":"\u003ctask:success:discrete:True\u003e\npick the orange 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 the orange pen\n\u003c/PRED\u003e","video":"11584772446943975016.mp4"}
+{"uid":"657959443746186534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2335117084603585233.mp4"}
+{"uid":"6947108182395754415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy 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":"10270860891435474912.mp4"}
+{"uid":"3272161272110403663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bigger packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2909609729216372581.mp4"}
+{"uid":"14789934877427691331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4427459556001581618.mp4"}
+{"uid":"12444746230747624168","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky note 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e","video":"18143777320112685508.mp4"}
+{"uid":"1986602043096707051","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bottom blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bottom blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1047209324795369134.mp4"}
+{"uid":"9142707170853189040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick out 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":"1496008383696414708.mp4"}
+{"uid":"16933837857578862268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 2 blue markers on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6024242794977936125.mp4"}
+{"uid":"10250168991792970344","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the holder 2- adjust the pen in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on 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: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: place the pen on the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the holder\n\u003c/PRED\u003e","video":"12806494485956270465.mp4"}
+{"uid":"10599647298828469557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"15325492290714168333.mp4"}
+{"uid":"12075436480429792855","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":"3829609253208714206.mp4"}
+{"uid":"12393613646505079712","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on upon the sticky notes 2- drop the sticky note in the tray 3- pick the binder clip 4- drop the binder clip in the black tray 5- pick the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes on upon the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on upon the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on upon the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes on upon the sticky notes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on upon the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes on upon the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5282638422830628082.mp4"}
+{"uid":"9485630134389987674","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange pen 2- adjust the pen in the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange 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","video":"8878770317614543301.mp4"}
+{"uid":"18137011767358027380","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky notes in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sticky notes in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky notes in the black tray 2- pick the sticky note 3- drop the sticky note in the tray 4- pick the binder clip 5- drop the binder clip in the black tray\n\u003c/PRED\u003e","video":"975233630266811265.mp4"}
+{"uid":"6611691791671777631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5351055382907510785.mp4"}
+{"uid":"7840801630898800417","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the holder 2- pick the orange pen 3- drop the pen in the holder 4- adjust the pen in the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e","video":"5937329171203166538.mp4"}
+{"uid":"783438997132721629","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4715284423651859907.mp4"}
+{"uid":"9958496973616477004","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8207129323401392314.mp4"}
+{"uid":"5342021276150420465","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange pen 2- adjust the pen in the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder 10- pick the pen 11- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e","video":"15362451517706287343.mp4"}
+{"uid":"3418263697782652166","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the holder 2- pick the pen 3- drop the pen in the holder 4- pick the orange pen 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop 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":"2162341564514679812.mp4"}
+{"uid":"743812278110108352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the clips in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4363918517850656210.mp4"}
+{"uid":"8224165852404877304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12798464213540834589.mp4"}
+{"uid":"6382735569563275200","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"694595816780395249.mp4"}
+{"uid":"9673901544301174121","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place 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: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- pick the orange pen 3- drop the pen in the holder 4- adjust the pen in the holder 5- 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":"10567971597248006392.mp4"}
+{"uid":"8633007829761815581","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":"7255655031842547944.mp4"}
+{"uid":"1204762344082873059","text":"\u003ctask:success:discrete:True\u003e\nput the sticky notes in the black 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 sticky notes in the black tray\n\u003c/PRED\u003e","video":"10801621526730313192.mp4"}
+{"uid":"13084170819663379595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange 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":"17190269772311377281.mp4"}
+{"uid":"2624462663242527572","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":"5001739976363658499.mp4"}
+{"uid":"5507227383264819429","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- pick the pen 3- drop the pen in the holder 4- pick the orange pen 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"11896291273771008877.mp4"}
+{"uid":"875077822388258268","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky notes 2- drop the sticky notes in the black tray 3- pick the sticky note 4- drop the sticky note in the tray 5- pick the binder clip\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e","video":"5830267312986131042.mp4"}
+{"uid":"894549164839588539","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray 8- pick the pen 9- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- drop the pen in the holder 3- pick the orange pen 4- drop the pen in the holder 5- adjust the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"389781521261278886.mp4"}
+{"uid":"6727135666441498587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10941123547802871363.mp4"}
+{"uid":"7861780817250710297","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":"3651009910170458504.mp4"}
+{"uid":"9461833282857148335","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the holder\n\u003c/PRED\u003e","video":"7599832603403970815.mp4"}
+{"uid":"9763687184969790884","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- pick the pen 3- drop the pen in the holder 4- pick the orange pen 5- drop 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"13843624932425368947.mp4"}
+{"uid":"6981027746988646541","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":"4704539946229308445.mp4"}
+{"uid":"11000688962641337109","text":"\u003ctask:success:discrete:False\u003e\nput the bottom blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bottom blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bottom blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: immediate next step? \u003cPRED\u003eA: put the bottom blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: put the bottom blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip 7- drop the binder clip in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottom blue pen in the holder 2- pick the pen 3- drop the pen in the holder 4- pick the orange pen 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bottom blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7882479182406430867.mp4"}
+{"uid":"4934545801745259345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the sticky notes in the black 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":"7889353496426795631.mp4"}
+{"uid":"7136610325869229671","text":"\u003ctask:success:discrete:True\u003e\npick 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 the pen\n\u003c/PRED\u003e","video":"12587106403902088213.mp4"}
+{"uid":"3733520531399932107","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note Q: immediate next step? \u003cPRED\u003eA: pick the binder clip\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- pick the binder clip 2- drop the binder clip in the black tray 3- pick the pen 4- drop the pen in the holder 5- pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: pick the binder clip\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the binder clip Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 binder clip\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the binder clip Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the binder clip\n\u003c/PRED\u003e","video":"7881324107871192973.mp4"}
+{"uid":"8705465083807634999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sponge 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":"17732731094094381325.mp4"}
+{"uid":"11721833296033157458","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky note in the tray 2- drop the binder clip in the black tray 3- pick the pen 4- drop the pen in the holder 5- pick the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sticky note 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: drop the sticky note in the tray\n\u003c/PRED\u003e","video":"16707162979462143370.mp4"}
+{"uid":"10249989127413631056","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":"1540385151273046351.mp4"}
+{"uid":"12486165783601393929","text":"\u003ctask:success:discrete:True\u003e\npick the orange 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 the orange pen\n\u003c/PRED\u003e","video":"467840448114005369.mp4"}
+{"uid":"406595307657251622","text":"\u003ctask:success:discrete:True\u003e\npick the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e","video":"17870733272361764314.mp4"}
+{"uid":"11829455848349895421","text":"\u003ctask:success:discrete:True\u003e\ndrop the binder clip in the black 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: drop the binder clip in the black tray\n\u003c/PRED\u003e","video":"13765565505286212881.mp4"}
+{"uid":"1525249083412094416","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky notes on upon the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky notes on upon the sticky notes\n\u003c/PRED\u003e","video":"1748828377130546808.mp4"}
+{"uid":"17675766758336419214","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the binder clip in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the binder clip in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip Q: next 5 steps? \u003cPRED\u003eA: 1- put the binder clip in the black tray 2- pick the pen 3- drop the pen in the holder 4- pick the pen 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the binder clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place. last 20 steps: 1- pick the sticky notes 2- pick the sticky notes 3- drop the sticky notes in the black tray 4- pick the sticky note 5- drop the sticky note in the tray 6- pick the binder clip Q: immediate next step? \u003cPRED\u003eA: put the binder clip in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the binder clip in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the office supplies back into their proper place Q: immediate next step? \u003cPRED\u003eA: put the binder clip in the black tray\n\u003c/PRED\u003e","video":"16914257648303430462.mp4"}
+{"uid":"11171315674107908171","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4208986340666748407.mp4"}
+{"uid":"11849764203372060434","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":"2458219843906406171.mp4"}
+{"uid":"11199205584283846636","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the marker on the table 3- place the marker on the table 4- place the marker on the table 5- place the object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e","video":"16721945186916212651.mp4"}
+{"uid":"7056823550631640733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3627713274390387070.mp4"}
+{"uid":"4903253095018124344","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange marker into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange marker into the tray 2- straight the tray 3- drop the green marker into the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange marker into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the orange marker into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: immediate next step? \u003cPRED\u003eA: drop the orange marker into the tray\n\u003c/PRED\u003e","video":"1353382747731187968.mp4"}
+{"uid":"17043472296537094413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen into 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":"13957284895416277921.mp4"}
+{"uid":"5737116805307457814","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":"2443645574579127123.mp4"}
+{"uid":"2505908781216457022","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the marker on the table 3- place the object on the table 4- place the tape box on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e","video":"16851606934622177240.mp4"}
+{"uid":"555141753080235790","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: drop the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue marker into the tray 2- drop the yellow marker into the tray 3- Drop marker into tray 4- straight the tray 5- drop the green marker into the tray\n\u003c/PRED\u003e","video":"15964869252910290125.mp4"}
+{"uid":"12618677145131999224","text":"\u003ctask:success:discrete:True\u003e\nDrop pen into 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: Drop pen into tray\n\u003c/PRED\u003e","video":"10930418005645543542.mp4"}
+{"uid":"4541495264948650618","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pens into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pens into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17664752750226676407.mp4"}
+{"uid":"15005425135179705985","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the clip on the table 2- place the clip on the table 3- place the marker on the table 4- place the marker on the table 5- place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table Q: immediate next step? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 clip on the table\n\u003c/PRED\u003e","video":"16237127008606049995.mp4"}
+{"uid":"14124958924244754356","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray Q: immediate next step? \u003cPRED\u003eA: place the green marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the green marker into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker into the tray 2- done\n\u003c/PRED\u003e","video":"4385434287064015163.mp4"}
+{"uid":"2485912957539607315","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pens into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pens into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pens into the tray 2- drop the pen into the tray 3- drop the pen into the tray 4- drop the blue marker into the tray 5- drop the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pens into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pens into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pens into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pens into the tray\n\u003c/PRED\u003e","video":"3898555779680220031.mp4"}
+{"uid":"7115422677789265435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6277432401705095385.mp4"}
+{"uid":"12883834332404922460","text":"\u003ctask:success:discrete:True\u003e\nplace the orange marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange marker into the tray\n\u003c/PRED\u003e","video":"10416725686669315651.mp4"}
+{"uid":"16265024385732407362","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the object on the table 3- place the tape box on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e","video":"1039599966776755610.mp4"}
+{"uid":"14533335982395697939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6011955555676242556.mp4"}
+{"uid":"14291880107233632698","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the marker on the table 3- place the marker on the table 4- place the object on the table 5- place the tape box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e","video":"17498787104060953431.mp4"}
+{"uid":"2519297994354481313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1854834285531055334.mp4"}
+{"uid":"13479305110587041270","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the tray 2- drop the pens into the tray 3- drop the pen into the tray 4- drop the pen into the tray 5- drop the blue marker into the tray\n\u003c/PRED\u003e","video":"13837978833422194829.mp4"}
+{"uid":"7422958653563254418","text":"\u003ctask:success:discrete:False\u003e\nplace the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the tray 2- drop the blue marker into the tray 3- drop the yellow marker into the tray 4- Drop marker into tray 5- straight the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12692304146076564530.mp4"}
+{"uid":"12531746924397450898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2207569206496611314.mp4"}
+{"uid":"15777647422929737887","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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: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: Please remove office supplies from the 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: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 14- 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","video":"6682766707298085876.mp4"}
+{"uid":"15123185062780140386","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4787271115133981835.mp4"}
+{"uid":"16211384074750003582","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray 10- Drop marker into tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop marker into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray 10- Drop marker into tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5172046722768240759.mp4"}
+{"uid":"13507801009767728714","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the marker on the table 3- place the marker on the table 4- place the marker on the table 5- place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e","video":"9191291165085199349.mp4"}
+{"uid":"15405375951636667471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13554036429578936753.mp4"}
+{"uid":"14861280753461392154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the ball with number 10 from the triangle 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":"12422709629265702158.mp4"}
+{"uid":"17983703624179739767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16124419030611374580.mp4"}
+{"uid":"5895801450875485514","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into tray 2- drop the yellow marker into the tray 3- Drop marker into tray 4- straight the tray 5- drop the green marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e","video":"11010081677679858823.mp4"}
+{"uid":"12467392618478971239","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green marker into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green marker into the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15431760418978731884.mp4"}
+{"uid":"11544718213288531134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the packet 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":"11420506845104153251.mp4"}
+{"uid":"17164598322869571524","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:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- 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: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"6950320681481956499.mp4"}
+{"uid":"7778104477668852706","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen into 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\nDrop pen into 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: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into tray 2- drop the pens into the tray 3- drop the pen into the tray 4- drop the pen into the tray 5- drop the blue marker into the tray\n\u003c/PRED\u003e","video":"17887460725207033104.mp4"}
+{"uid":"14322724018658654175","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e","video":"17237864010431096458.mp4"}
+{"uid":"83211770793365617","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the marker on the table 3- place the marker on the table 4- place the marker on the table 5- place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e","video":"11422499824116985919.mp4"}
+{"uid":"17658739760595242297","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":"5560796116543430747.mp4"}
+{"uid":"79963732044283990","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into tray 2- drop the pen into the tray 3- drop the pen into the tray 4- drop the blue marker into the tray 5- drop the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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":"8256378466491631429.mp4"}
+{"uid":"16385821712826009717","text":"\u003ctask:success:discrete:False\u003e\nplace the pens into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\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 pens into the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: place the pens into the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pens into the tray table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pens into the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the pens into the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pens into the tray table 2- drop the pen into the tray 3- drop the pen into the tray 4- drop the blue marker into the tray 5- drop the yellow marker into the tray\n\u003c/PRED\u003e","video":"10505472430553967036.mp4"}
+{"uid":"1345266615985512830","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table Q: immediate next step? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 clip on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the clip on the table 2- place the marker on the table 3- place the marker on the table 4- place the marker on the table 5- place the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e","video":"11521596800574362340.mp4"}
+{"uid":"16101448442879854898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab a white glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18192590206153806967.mp4"}
+{"uid":"2144551082822732322","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green marker into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray 10- place the green marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray 10- place the green marker into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5984534845520183351.mp4"}
+{"uid":"8082442075968428392","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the tray 2- drop the pens into the tray 3- drop the pen into the tray 4- drop the pen into the tray 5- drop the blue marker into the tray\n\u003c/PRED\u003e","video":"365400451649214692.mp4"}
+{"uid":"16528334165312463858","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop marker into 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":"14989325851103689452.mp4"}
+{"uid":"12362552734252846917","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into 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: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into tray 2- Drop marker into tray 3- straight the tray 4- drop the green marker into the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15337304904595205342.mp4"}
+{"uid":"346959049588081089","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen into 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":"11455734582493407622.mp4"}
+{"uid":"2343719225044683914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cube 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":"15005016177978139762.mp4"}
+{"uid":"3700285185702406249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10751239950983695816.mp4"}
+{"uid":"10960671348626106375","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":"3462535476666434952.mp4"}
+{"uid":"11307818339938964307","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into 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: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into 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 pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- straight the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e","video":"1441124247680444386.mp4"}
+{"uid":"1771872538416190181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker into the tray 2- Drop marker into tray 3- straight the tray 4- drop the green marker into the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray Q: immediate next step? \u003cPRED\u003eA: place the yellow marker into the tray\n\u003c/PRED\u003e","video":"8800346422386665870.mp4"}
+{"uid":"4067579519132366672","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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 pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into tray 2- drop the pen into the tray 3- drop the pen into the tray 4- drop the blue marker into the tray 5- drop the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e","video":"15113934106438496432.mp4"}
+{"uid":"8142251110856988957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9097100577292657688.mp4"}
+{"uid":"7167474364629595135","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow marker into the tray\n\u003c/PRED\u003e","video":"15675709913932059404.mp4"}
+{"uid":"3806465052222821723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13169688481765351871.mp4"}
+{"uid":"9425807124010202365","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":"357928436768439496.mp4"}
+{"uid":"16105145633289736024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17821756033451408904.mp4"}
+{"uid":"13023349987005081448","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":"17104057164103474252.mp4"}
+{"uid":"14314589422385931643","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":"290181717822794596.mp4"}
+{"uid":"5944912025543568015","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the tray 2- drop the blue marker into the tray 3- drop the yellow marker into the tray 4- Drop marker into tray 5- straight the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16633676648997171537.mp4"}
+{"uid":"10425407364002292726","text":"\u003ctask:success:discrete:True\u003e\nplace the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e","video":"2106582319404741105.mp4"}
+{"uid":"13158405147415267916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1058537006495708887.mp4"}
+{"uid":"14075936250199848564","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow marker into the tray 2- Drop marker into tray 3- straight the tray 4- drop the green marker into the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow marker into the tray\n\u003c/PRED\u003e","video":"12156077771807440487.mp4"}
+{"uid":"14858902313611693161","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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: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: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"7208945150399014667.mp4"}
+{"uid":"4529434014463880285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4649894018438936231.mp4"}
+{"uid":"5760338870017422135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue paper 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":"13988813477323156551.mp4"}
+{"uid":"9474410324282170645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1360482534763276272.mp4"}
+{"uid":"1641110026193509535","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into 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: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into tray 2- Drop marker into tray 3- straight the tray 4- drop the green marker into the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e","video":"17604428769509644777.mp4"}
+{"uid":"14162003341508154701","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the tray 2- drop the pens into the tray 3- drop the pen into the tray 4- drop the pen into the tray 5- drop the blue marker into the tray\n\u003c/PRED\u003e","video":"14873858638354083648.mp4"}
+{"uid":"767887467044686483","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the blue marker into the tray 4- drop the yellow marker into the tray 5- Drop marker into tray\n\u003c/PRED\u003e","video":"16632405816281524330.mp4"}
+{"uid":"17007617563248496627","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- place the marker on the table 3- place the marker on the table 4- place the marker on the table 5- place the marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8281545809220470084.mp4"}
+{"uid":"3449971970757872806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14464218291422664795.mp4"}
+{"uid":"16591429877378944700","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: straight the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstraight 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\nstraight 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: straight the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- straight the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: straight the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: immediate next step? \u003cPRED\u003eA: straight the tray\n\u003c/PRED\u003e","video":"6225199384102672220.mp4"}
+{"uid":"13662923194439749656","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":"17463702681746397942.mp4"}
+{"uid":"1052578025496836068","text":"\u003ctask:success:discrete:False\u003e\nplace the blue marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker into the tray 2- drop the yellow marker into the tray 3- Drop marker into tray 4- straight the tray 5- drop the green marker into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: place the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker into the tray\n\u003c/PRED\u003e","video":"17286277012167469920.mp4"}
+{"uid":"744867066292233317","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: immediate next step? \u003cPRED\u003eA: place the orange marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: place the orange marker into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange marker into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange marker into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange marker into the tray 2- straight the tray 3- drop the green marker into 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 orange marker into the tray\n\u003c/PRED\u003e","video":"13669465938621388647.mp4"}
+{"uid":"10869907865005124136","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":"7778239586899332209.mp4"}
+{"uid":"13430066615258732970","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- drop the green marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- Drop marker into tray 9- drop the green marker into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11826121220440573905.mp4"}
+{"uid":"17442289816363010680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15588599378316734229.mp4"}
+{"uid":"10842285029220218310","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop marker into 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":"12354423005142348964.mp4"}
+{"uid":"15712945232412465820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6723911938642579830.mp4"}
+{"uid":"11769520171367049031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4404996237257298598.mp4"}
+{"uid":"16318554769812838421","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table Q: immediate next step? \u003cPRED\u003eA: place the tape box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the tape box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tape box 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 tape box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tape box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tape box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tape box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13150921186706308321.mp4"}
+{"uid":"549505682813465390","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into tray 2- drop the green marker into the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop marker into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into 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: Drop marker into tray\n\u003c/PRED\u003e","video":"3108889900501401663.mp4"}
+{"uid":"18388112332501331850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"2153643961895918351.mp4"}
+{"uid":"11628590165450357131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18002462880553436348.mp4"}
+{"uid":"4095619622873373264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the box straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2910563293065162377.mp4"}
+{"uid":"5151642687967424082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the yellow marker tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9799095659183384561.mp4"}
+{"uid":"5019235586600870424","text":"\u003ctask:success:discrete:True\u003e\nDrop pen into 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: Drop pen into tray\n\u003c/PRED\u003e","video":"1477253350580436521.mp4"}
+{"uid":"17471746979528741704","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table Q: immediate next step? \u003cPRED\u003eA: place the object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the object on the table 2- place the tape box 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the object on the table\n\u003c/PRED\u003e","video":"13995391753084259692.mp4"}
+{"uid":"6364407156454401604","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3927171617547311344.mp4"}
+{"uid":"17215850918865265967","text":"\u003ctask:success:discrete:True\u003e\nDrop marker into 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: Drop marker into tray\n\u003c/PRED\u003e","video":"2412698671679175300.mp4"}
+{"uid":"14530697650833071338","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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: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: Please remove office supplies from the 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","video":"3051712240127670829.mp4"}
+{"uid":"4510763449724575807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5133897598574113108.mp4"}
+{"uid":"3483668833749825126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a plastic glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1071021697502131923.mp4"}
+{"uid":"18210576915412346250","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 clip on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the clip on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the clip on the table\n\u003c/PRED\u003e","video":"12298880193393040162.mp4"}
+{"uid":"11930003826680609216","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the tray 2- drop the blue marker into the tray 3- drop the yellow marker into the tray 4- Drop marker into tray 5- straight the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4459997933265791559.mp4"}
+{"uid":"16052032838364938387","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the 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: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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: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: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: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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":"14473476905220833517.mp4"}
+{"uid":"9603775603620618428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"1301512407388204032.mp4"}
+{"uid":"10036545560456033827","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- straight the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray 4- drop the pen into the tray 5- drop the pen into the tray 6- drop the blue marker into the tray 7- drop the yellow marker into the tray 8- straight the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstraight 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: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: straight the tray\n\u003c/PRED\u003e","video":"3830389353936505685.mp4"}
+{"uid":"14486753133217883319","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":"1772678611070497984.mp4"}
+{"uid":"8992951929235265536","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:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder 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: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 13- place the pen on the table 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: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":"45538983497258390.mp4"}
+{"uid":"17853357922477735721","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue marker into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue marker into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4634169268590406919.mp4"}
+{"uid":"3393208444238130234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1161878291950080175.mp4"}
+{"uid":"5188316865298551264","text":"\u003ctask:success:discrete:False\u003e\nDrop pen into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into tray 2- drop the blue marker into the tray 3- drop the yellow marker into the tray 4- Drop marker into tray 5- straight the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick the up supplies and put them into the tray. last 20 steps: 1- drop the pen into the tray 2- drop the pen into the tray 3- drop the pens into the tray Q: immediate next step? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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":"15195477222013013671.mp4"}
+{"uid":"905933742457341894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14933712049065944883.mp4"}
+{"uid":"3096120174002840988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9235858814818147509.mp4"}
+{"uid":"2306956897851922019","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box on the table 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: Please remove office supplies from the holder. last 20 steps: 1- place the clip on the table 2- place the clip on the table 3- place the clip on the table 4- place the marker on the table 5- place the marker on the table 6- place the marker on the table 7- place the marker on the table 8- place the marker on the table 9- place the marker on the table 10- place the marker on the table 11- place the object on the table 12- place the tape box 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: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:planning:freeform\u003e\ncurrent goal is: Please remove office supplies from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"2412083955521893250.mp4"}
+{"uid":"11428689022887130165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"885802022099809265.mp4"}
+{"uid":"4840923765274629204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the blue box from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17671751942683379466.mp4"}
+{"uid":"5392820742849291617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue 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":"14421633527001346834.mp4"}
+{"uid":"13200258315238479790","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":"5464783788064316826.mp4"}
+{"uid":"16626480747509683352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16888761192527806370.mp4"}
+{"uid":"1557970858783346135","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white 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 plastic container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the plastic container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13161142457263813467.mp4"}
+{"uid":"9164469954577078043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue marker on the board slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8972530352663015654.mp4"}
+{"uid":"13725631735464404870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the marker into 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":"641751428846046028.mp4"}
+{"uid":"11833809647690727590","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packets in the plastic container 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packets in the plastic container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packets in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2694204306510820819.mp4"}
+{"uid":"588137728012684889","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the plastic container 2- Put the white packet in the tray 3- put the packets in the plastic container 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the plastic container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e","video":"11611845381247509997.mp4"}
+{"uid":"12251974166511049027","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12249359555010055926.mp4"}
+{"uid":"14987967511424983782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14363431514545924640.mp4"}
+{"uid":"2371036705185267374","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer 2- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Put the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer 2- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16637147982092400282.mp4"}
+{"uid":"8467920038957795481","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- Put the white packet in the tray 4- put the packets in the plastic container 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the plastic container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e","video":"10522653517333938357.mp4"}
+{"uid":"2071595980002125736","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in tray 2- put the packet in the plastic container 3- put the packet in the plastic container 4- Put the white packet in the tray 5- put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e","video":"5218592873813268445.mp4"}
+{"uid":"3359612401247046081","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray 6- put the packets in the plastic container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packets in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray 6- put the packets in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12448132005965132284.mp4"}
+{"uid":"6567445373295330305","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in tray 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5911198683133917977.mp4"}
+{"uid":"5560684527063330666","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the kettle 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 a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: Put the kettle packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the kettle packet in the tray 2- Put the white packet in the tray 3- put the packets in the plastic container 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the kettle 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 kettle packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: Put the kettle packet in the tray\n\u003c/PRED\u003e","video":"3039745415535868386.mp4"}
+{"uid":"4224136576471674912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14014194921887833940.mp4"}
+{"uid":"1530301154909832651","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- Put the white packet in the tray 5- put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the plastic container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e","video":"10045204268007836365.mp4"}
+{"uid":"7995253386028243421","text":"\u003ctask:success:discrete:True\u003e\nPut the white 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 white packet in the tray\n\u003c/PRED\u003e","video":"16230023050112373034.mp4"}
+{"uid":"1854316464897651698","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in tray 2- Put the white packet in the tray 3- put the packets in the plastic container 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14948883593289634431.mp4"}
+{"uid":"8876006039923099472","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the tray 2- put the packets in the plastic container 3- done\n\u003c/PRED\u003e","video":"12818065226476458478.mp4"}
+{"uid":"6311389495253131869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6811020422437233854.mp4"}
+{"uid":"13770585565572615703","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Close the drawer 3- Put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6951175377564038239.mp4"}
+{"uid":"4489776557412816447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cucumber 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":"11430084597320802594.mp4"}
+{"uid":"16764828235481238150","text":"\u003ctask:success:discrete:False\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in tray 2- put the packets in the plastic container 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e","video":"8771367656764258298.mp4"}
+{"uid":"1987463020278778761","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":"8852297098797836321.mp4"}
+{"uid":"15701863972409647550","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packets in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put packets in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in tray\n\u003c/PRED\u003e","video":"6349926268113002501.mp4"}
+{"uid":"10263483760805235831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange fruit 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":"2488422276528348228.mp4"}
+{"uid":"6348089976215081671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the mint 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":"9177894263469286568.mp4"}
+{"uid":"8747930959784328078","text":"\u003ctask:success:discrete:True\u003e\nPut the white 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 white packet in the tray\n\u003c/PRED\u003e","video":"17102051612275001838.mp4"}
+{"uid":"6941881382742475566","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":"14645799330683074047.mp4"}
+{"uid":"8791462951663390197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: Put the white 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 white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white 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 a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the tray 2- put the packet in the plastic container 3- put the packet in the plastic container 4- Put the white packet in the tray 5- put the packets in the plastic container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e","video":"14449581705224093942.mp4"}
+{"uid":"7395372678082386689","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6386163234966862354.mp4"}
+{"uid":"10568034474836270142","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 2 packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray 6- put the 2 packets in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 2 packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray 6- put the 2 packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3363480293693919732.mp4"}
+{"uid":"5301796485833715640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10475756554682877174.mp4"}
+{"uid":"14261993018981158224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16692766065400673750.mp4"}
+{"uid":"17816858576624044345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white 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":"1052144192235758982.mp4"}
+{"uid":"5314648120244384776","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the plastic container 2- put the packets in the plastic container 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the plastic container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e","video":"16753649998514599999.mp4"}
+{"uid":"1991602635919067598","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e","video":"11532430144993041853.mp4"}
+{"uid":"3622853343252793486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18191173317297412090.mp4"}
+{"uid":"9202854055990527144","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7841733275697349984.mp4"}
+{"uid":"16140308423840462128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the chair with table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4861878815936814499.mp4"}
+{"uid":"5590424257473675688","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer 2- Put the packet on the table 3- Close the drawer 4- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer 2- Put the packet on the table 3- Close the drawer 4- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1212267619251168762.mp4"}
+{"uid":"14400625080943048360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker 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":"12667463954137598187.mp4"}
+{"uid":"12960972273306358993","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white 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 white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the tray 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white 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 white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the tray\n\u003c/PRED\u003e","video":"14122912485188446809.mp4"}
+{"uid":"6858840630008629970","text":"\u003ctask:success:discrete:False\u003e\nput the 2 packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 2 packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 2 packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put the 2 packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the 2 packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container 3- put the packet in the plastic container 4- put the packet in the plastic container 5- Put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the 2 packets in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 2 packets in the tray\n\u003c/PRED\u003e","video":"6426883102200949697.mp4"}
+{"uid":"8654205423269043061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3968375208694557058.mp4"}
+{"uid":"8924264637522184327","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer 2- Put the packet on the table 3- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: 1- Open the drawer 2- Put the packet on the table 3- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"11805973350050265259.mp4"}
+{"uid":"16276193382129446494","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: Put the kettle 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 kettle packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the kettle packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the kettle 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 a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the kettle packet in the tray 2- put the packet in the plastic container 3- Put the white packet in the tray 4- put the packets in the plastic container 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the kettle packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: Put the kettle packet in the tray\n\u003c/PRED\u003e","video":"13813673246079331555.mp4"}
+{"uid":"14401278875334312844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet 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":"6690386169362024618.mp4"}
+{"uid":"6952001073790844660","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a few chip bags from the top drawer into the box. last 20 steps: 1- put the packet in the plastic container 2- put the packet in the plastic container Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in tray 2- put the packet in the plastic container 3- Put the white packet in the tray 4- put the packets in the plastic container 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e","video":"5967430032527661171.mp4"}
+{"uid":"15038336417477744141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the dark chocolate ball 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":"10980236648238280376.mp4"}
+{"uid":"17854887360799234521","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the plastic container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the plastic container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3602481527171007663.mp4"}
+{"uid":"13351835525247134235","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the packet on the table 3- Close the drawer 4- Put the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a chips from mk kitchen and put it on my desk Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13996433264577621744.mp4"}
+{"uid":"9736008830909549784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10250685023971310706.mp4"}
+{"uid":"685871926853989466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet in the middle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14730276381661424333.mp4"}
+{"uid":"14217068260037187008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut third fork 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":"6814529757050546617.mp4"}
+{"uid":"10575424657497403517","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut sponge 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":"8246019610326451054.mp4"}
+{"uid":"14058810802690977245","text":"\u003ctask:success:discrete:True\u003e\nplace the regulator in 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the regulator in the carton\n\u003c/PRED\u003e","video":"13645372926412276787.mp4"}
+{"uid":"4903422544716506133","text":"\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton Q: immediate next step? \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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put belt in the box 2- Put black wire in the box 3- place the regulator in the carton 4- place the black object into the carton 5- Put orange wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put belt in the box\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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put belt in the box\n\u003c/PRED\u003e","video":"2512565706569531087.mp4"}
+{"uid":"96693943036958639","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the transparent packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the transparent 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the transparent packet in the box 2- Put black wire in the box 3- place the regulator in the carton 4- place the black object into the carton 5- Put orange wire in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton Q: immediate next step? \u003cPRED\u003eA: Put the transparent packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the transparent packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the transparent packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the transparent packet in the box\n\u003c/PRED\u003e","video":"2970148652991921504.mp4"}
+{"uid":"6087728266018070260","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sponge in the box 2- place the marker into the carton 3- place the orange object in the carton 4- Put black wire in the box 5- place the regulator in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton Q: immediate next step? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e","video":"11660241193456281440.mp4"}
+{"uid":"10297928265207438001","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put yellow packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17261705149757292245.mp4"}
+{"uid":"336272298405857487","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plug in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput plug 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":"14097803611381218194.mp4"}
+{"uid":"2732788331611347189","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left lead of the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left lead of 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 left lead of 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 floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the left lead of the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the left lead of the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left lead of the carton\n\u003c/PRED\u003e","video":"11910990076656469889.mp4"}
+{"uid":"13528774814783012298","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black cable in the box 2- place the regulator in the carton 3- place the black object into the carton 4- Put orange wire in the 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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton Q: immediate next step? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black cable 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 cable 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":"15176702953732827201.mp4"}
+{"uid":"9120637628529969607","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the  box 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the  box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the  box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the  box\n\u003c/PRED\u003e\u003ctask: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the  box\n\u003c/PRED\u003e","video":"14726811739606101640.mp4"}
+{"uid":"2806188251731617947","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the marker into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box Q: immediate next step? \u003cPRED\u003eA: place the marker into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker 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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into the carton 2- place the orange object in the carton 3- Put black wire in the box 4- place the regulator in the carton 5- place the black object into the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker 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":"17689112188124963481.mp4"}
+{"uid":"5646260868426448450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in big 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":"5998850477694997153.mp4"}
+{"uid":"2678148191170545929","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton Q: immediate next step? \u003cPRED\u003eA: place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange object in 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:discriminative:discrete:True\u003e\nplace the orange object in 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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange object in the carton 2- Put black wire in the box 3- place the regulator in the carton 4- place the black object into the carton 5- Put orange wire in the box\n\u003c/PRED\u003e","video":"14117095387832038023.mp4"}
+{"uid":"10441959119736625108","text":"\u003ctask:success:discrete:True\u003e\nplace the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cable into the carton\n\u003c/PRED\u003e","video":"15476918821250815752.mp4"}
+{"uid":"1407474711537920216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky notes in a glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11430502105656878858.mp4"}
+{"uid":"8953178849969721868","text":"\u003ctask:success:discrete:True\u003e\nplace the marker 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker into the carton\n\u003c/PRED\u003e","video":"8126765518228596293.mp4"}
+{"uid":"504073648756037664","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":"10676836686152330688.mp4"}
+{"uid":"10787235722962892541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2553544723315790590.mp4"}
+{"uid":"2654928196530877250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelocate the rightmost strainer into the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10369025853292278789.mp4"}
+{"uid":"9550746220909016958","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the regulator in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the regulator in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the regulator in the carton 2- place the black object into the carton 3- Put orange wire in the box 4- place the bowl into the carton 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the regulator in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the regulator in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box Q: immediate next step? \u003cPRED\u003eA: place the regulator in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the regulator in 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","video":"17351065068361049850.mp4"}
+{"uid":"1101970534914697268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18221760220172565924.mp4"}
+{"uid":"2823150143906769448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pista 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":"12024422836046111857.mp4"}
+{"uid":"5589881931057723404","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the cable into the carton 2- place the regulator in the carton 3- place the black object into the carton 4- Put orange wire in the box 5- place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cable into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the cable into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton Q: immediate next step? \u003cPRED\u003eA: place the 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 cable into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:success:discrete:False\u003e\nplace the 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","video":"17436822598154553357.mp4"}
+{"uid":"13421279715554349839","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton 10- Put orange wire in the box Q: immediate next step? \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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton 10- Put orange wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl in the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: 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","video":"4537395720009036104.mp4"}
+{"uid":"6397393819755251413","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plug in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box Q: immediate next step? \u003cPRED\u003eA: put plug in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put plug in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put plug in the box 2- place the black object into the carton 3- Put orange wire in the box 4- place the bowl into the carton 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plug in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput plug 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 plug 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":"593049256086441655.mp4"}
+{"uid":"18271429950869486939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5504453942448437917.mp4"}
+{"uid":"15028490494243910089","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":"18120647149561163159.mp4"}
+{"uid":"11781448261241696756","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box Q: immediate next step? \u003cPRED\u003eA: Put market in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put market in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut market in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put market in the box 2- place the orange object in the carton 3- Put black wire in the box 4- place the regulator in the carton 5- place the black object into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut market in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put market in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put market in the box\n\u003c/PRED\u003e","video":"5342640819151871948.mp4"}
+{"uid":"14545286576363828075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12779119774860281816.mp4"}
+{"uid":"14787049644164200553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15293934870231447634.mp4"}
+{"uid":"4160900983964914811","text":"\u003ctask:success:discrete:True\u003e\nPut the brown cable 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 brown cable in the box\n\u003c/PRED\u003e","video":"7923768053217279186.mp4"}
+{"uid":"8468595172136713791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6968066867779673173.mp4"}
+{"uid":"14495906885948209800","text":"\u003ctask:success:discrete:True\u003e\nplace the black object in 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e","video":"17569668929594960666.mp4"}
+{"uid":"1538701486885866464","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the left lead of the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the left lead of 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":"2639537412683634841.mp4"}
+{"uid":"9739160850768125375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black 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":"15450011063766617630.mp4"}
+{"uid":"9279843833760026942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the square shape block in the right 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":"1806666308326613138.mp4"}
+{"uid":"15332064910387403002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cheese ball 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":"860518875071890442.mp4"}
+{"uid":"12280850446806758142","text":"\u003ctask:success:discrete:True\u003e\nplace the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cable into the carton\n\u003c/PRED\u003e","video":"6800441749800451783.mp4"}
+{"uid":"3020261080017290256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8492454443181056935.mp4"}
+{"uid":"11209770250669780252","text":"\u003ctask:success:discrete:True\u003e\nPut black 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: Put black wire in the box\n\u003c/PRED\u003e","video":"4149217446238585044.mp4"}
+{"uid":"6965102557986631995","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put sponge in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put sponge in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton Q: immediate next step? \u003cPRED\u003eA: Put sponge in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put sponge in the box 2- place the marker into the carton 3- place the orange object in the carton 4- Put black wire in the box 5- place the regulator in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut sponge 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 sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut sponge 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":"3838552963053540397.mp4"}
+{"uid":"3319411907284319801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black cloth in the left bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"572375221993490687.mp4"}
+{"uid":"1931484012752560495","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown cable 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 brown cable in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton Q: immediate next step? \u003cPRED\u003eA: Put the brown cable in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the brown cable in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown cable in the box 2- place the bowl into the carton 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown cable 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":"10372576204990794107.mp4"}
+{"uid":"7393589739174815784","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1367418662399241246.mp4"}
+{"uid":"8184810590648024200","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange object in 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":"7833159647115614166.mp4"}
+{"uid":"5615362226223666285","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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 floor, 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge into the carton 2- place the marker into the carton 3- place the orange object in the carton 4- Put black wire in the box 5- place the regulator in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton Q: immediate next step? \u003cPRED\u003eA: place the sponge into the carton\n\u003c/PRED\u003e\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: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","video":"8505799018524350060.mp4"}
+{"uid":"3913903880509278670","text":"\u003ctask:success:discrete:False\u003e\nPut 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:affordance:discriminative:discrete:True\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton Q: immediate next step? \u003cPRED\u003eA: Put yellow packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow packet in the box 2- place the black object in the carton 3- Put sponge in the box 4- place the marker into the carton 5- place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put yellow packet in the box\n\u003c/PRED\u003e","video":"8515977313601159963.mp4"}
+{"uid":"13219525309176847919","text":"\u003ctask:success:discrete:False\u003e\nplace the yellow packet in 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 yellow packet in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet in the carton 2- place the black object in the carton 3- Put sponge in the box 4- place the marker into the carton 5- place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow packet in 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 floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in the carton\n\u003c/PRED\u003e","video":"4062735770816336062.mp4"}
+{"uid":"7171638227170177447","text":"\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\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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the box 2- place the black object in the carton 3- Put sponge in the box 4- place the marker into the carton 5- place the orange object in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the box\n\u003c/PRED\u003e","video":"12336662422529608672.mp4"}
+{"uid":"4828320678111907136","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton 10- Put orange wire in the box 11- place the bowl into the carton 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 bowl into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton 10- Put orange wire in the box 11- place the bowl into the carton Q: immediate next step? \u003cPRED\u003eA: done\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":"17564762377831929496.mp4"}
+{"uid":"11837702091613496819","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton 10- Put orange wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl 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 bowl into the carton\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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton 10- Put orange wire in the box Q: immediate next step? \u003cPRED\u003eA: place the bowl into the carton\n\u003c/PRED\u003e\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 floor, 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","video":"15719420807211698850.mp4"}
+{"uid":"18040774438748768313","text":"\u003ctask:success:discrete:True\u003e\nPut 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: Put orange wire in the box\n\u003c/PRED\u003e","video":"852645744879280302.mp4"}
+{"uid":"11192719668782812311","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":"4839735795932953939.mp4"}
+{"uid":"11776198012842971151","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sponge 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":"14120421431723176220.mp4"}
+{"uid":"6725949720239287144","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the battery in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the battery 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:success:discrete:True\u003e\nput black battery 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 black battery in the box\n\u003c/PRED\u003e","video":"16103943339323937846.mp4"}
+{"uid":"4035401891200143182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wipes 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":"11011045677448342447.mp4"}
+{"uid":"7575353144881048448","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange wire in the box 2- place the bowl into the carton 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put orange wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:affordance:discriminative:discrete:True\u003e\nPut 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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton Q: immediate next step? \u003cPRED\u003eA: Put orange wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange wire in the box\n\u003c/PRED\u003e","video":"5650482436587774126.mp4"}
+{"uid":"9821575960638259103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the almond eggs 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":"10740684613527132465.mp4"}
+{"uid":"4979685884829403000","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":"17324806307337704688.mp4"}
+{"uid":"612315851043413823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHand the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1555538583834132021.mp4"}
+{"uid":"12074476494902654298","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":"5308261382830200479.mp4"}
+{"uid":"7537566916575869643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart 50 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":"4953140106454956854.mp4"}
+{"uid":"1594529870438998315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Rip van 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":"4809638339522065142.mp4"}
+{"uid":"8360731803629532418","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton Q: immediate next step? \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: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\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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the 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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the black object into the carton 2- Put orange wire in the box 3- place the bowl into the carton 4- done\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","video":"6130221699338598587.mp4"}
+{"uid":"3280452793260302059","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton Q: immediate next step? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut black 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:affordance:discriminative:discrete:True\u003e\nPut black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put black wire in the box 2- place the regulator in the carton 3- place the black object into the carton 4- Put orange wire in the box 5- place the bowl into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e","video":"12954255214182999117.mp4"}
+{"uid":"8760374111425324307","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black object in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton Q: immediate next step? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the black object in the carton 2- Put sponge in the box 3- place the marker into the carton 4- place the orange object in the carton 5- Put black wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black object in 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","video":"2672777712020074557.mp4"}
+{"uid":"8838173738929297279","text":"\u003ctask:success:discrete:True\u003e\nplace the sponge 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sponge into the carton\n\u003c/PRED\u003e","video":"4756932408241575545.mp4"}
+{"uid":"2668479889656953888","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glue stick in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glue stick in the box 2- place the orange object in the carton 3- Put black wire in the box 4- place the regulator in the carton 5- place the black object into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glue stick 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 glue stick in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glue stick in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the glue stick in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box Q: immediate next step? \u003cPRED\u003eA: Put the glue stick in the box\n\u003c/PRED\u003e","video":"7307141285472341193.mp4"}
+{"uid":"11900603724290481351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10350744960413492630.mp4"}
+{"uid":"17986621856406932203","text":"\u003ctask:success:discrete:True\u003e\nplace the yellow packet in 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow packet in the carton\n\u003c/PRED\u003e","video":"14998186687159435057.mp4"}
+{"uid":"5873450341213594061","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the box 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"15639248470905542438.mp4"}
+{"uid":"7938105938958323125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3664921572487717213.mp4"}
+{"uid":"8309598820765839253","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put black battery in the box 2- Put sponge in the box 3- place the marker into the carton 4- place the orange object in the carton 5- Put black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black battery in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put black battery in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black battery 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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton Q: immediate next step? \u003cPRED\u003eA: put black battery in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black battery in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black battery in the box\n\u003c/PRED\u003e","video":"15138481741688064972.mp4"}
+{"uid":"15095165221509441880","text":"\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black object into the carton\n\u003c/PRED\u003e","video":"4283819547290422973.mp4"}
+{"uid":"1723669375650435336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put market in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut market 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":"2115674121051156691.mp4"}
+{"uid":"6751502848711173219","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton Q: immediate next step? \u003cPRED\u003eA: place the cable into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the cable into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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 cable into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton 9- place the black object into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the cable into the carton 2- place the bowl into the carton 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cable into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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","video":"18416212728783902815.mp4"}
+{"uid":"7544320189810164222","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put black sponge in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton Q: immediate next step? \u003cPRED\u003eA: Put black sponge in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put black sponge in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put black sponge in the box 2- Put orange wire in the box 3- place the bowl into the carton 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put black sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut black sponge 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 black sponge 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":"9620222019641199009.mp4"}
+{"uid":"16722237621424598921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put belt in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput belt 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":"7756786226507562541.mp4"}
+{"uid":"11348132925452316906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the brush 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":"16061471077514426252.mp4"}
+{"uid":"12016966054956056768","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":"2784725091463180314.mp4"}
+{"uid":"13663593656550976210","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the object holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the object holder 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 object holder in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton Q: immediate next step? \u003cPRED\u003eA: Put the object holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the object holder 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: Put the object holder in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box 8- place the regulator in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the object holder in the box 2- Put orange wire in the box 3- place the bowl into the carton 4- done\n\u003c/PRED\u003e","video":"15395941971150666120.mp4"}
+{"uid":"16099781708116566648","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":"3938084136685528762.mp4"}
+{"uid":"12058599607271671723","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the brown black 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 brown 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 floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown black object in the box 2- place the black object into the carton 3- Put orange wire in the box 4- place the bowl into the carton 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown 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\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton 3- place the black object in the carton 4- Put sponge in the box 5- place the marker into the carton 6- place the orange object in the carton 7- Put black wire in the box Q: immediate next step? \u003cPRED\u003eA: Put the brown black object in the box\n\u003c/PRED\u003e","video":"8934313178856537739.mp4"}
+{"uid":"15599570641847935388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5239238060530706904.mp4"}
+{"uid":"4883122867356637514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"9063709395679925304.mp4"}
+{"uid":"14432805578193281932","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the battery in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the battery in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the battery in the box 2- Put sponge in the box 3- place the marker into the carton 4- place the orange object in the carton 5- Put black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the battery in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the battery in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the battery in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the left lead of the carton 2- place the yellow packet in the carton Q: immediate next step? \u003cPRED\u003eA: Put the battery in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"17801379656080684910.mp4"}
+{"uid":"5208914289431058288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the coffee cup in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5418146727287982513.mp4"}
+{"uid":"4772927651343325148","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put blue can in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put blue can in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17311848199985946078.mp4"}
+{"uid":"5462700333400556904","text":"\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"9983726528743478885.mp4"}
+{"uid":"10298698794332743934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the transparent cup lid 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":"5848072382382810900.mp4"}
+{"uid":"4761124608276063721","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11051963948636463622.mp4"}
+{"uid":"15204090806129065264","text":"\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"12452525332325635367.mp4"}
+{"uid":"11194255274219063635","text":"\u003ctask:success:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e","video":"15419340873556509274.mp4"}
+{"uid":"8021507699755643994","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":"17594685851906089835.mp4"}
+{"uid":"15959653810490482754","text":"\u003ctask:success:discrete:True\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"3183280935528809432.mp4"}
+{"uid":"12367316479523002113","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"7094490923547668373.mp4"}
+{"uid":"15185124272928803669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"489177555252000286.mp4"}
+{"uid":"4616180209473421291","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15636871119349557164.mp4"}
+{"uid":"11808244181061507583","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"8119508107589403511.mp4"}
+{"uid":"11002403995634742055","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5584206582895572014.mp4"}
+{"uid":"14190927914174437574","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can 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":"6156293683117299928.mp4"}
+{"uid":"12023908170723654623","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"2851602136272016292.mp4"}
+{"uid":"16370240796162663821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses 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":"13029768564891658228.mp4"}
+{"uid":"11404157906483923148","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"4557688073143977530.mp4"}
+{"uid":"16511996020938195517","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"16393760537377984036.mp4"}
+{"uid":"424157246766842681","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"7029643311464380466.mp4"}
+{"uid":"7052934655759333461","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":"14785011984393196178.mp4"}
+{"uid":"6374929452202559448","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"2275538691728719277.mp4"}
+{"uid":"5617364930853583561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up tissue box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7763299277166510724.mp4"}
+{"uid":"342249651925337150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6640251041334174026.mp4"}
+{"uid":"16149159516249493401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16844552656331139958.mp4"}
+{"uid":"7270058489288167776","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e","video":"15252278802460625356.mp4"}
+{"uid":"18148754962827251517","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3699773567307192134.mp4"}
+{"uid":"16466813691325309325","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"16937576919952321838.mp4"}
+{"uid":"238104346005057833","text":"\u003ctask:success:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10085752766094281341.mp4"}
+{"uid":"10482932209619777570","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":"17679244604754085973.mp4"}
+{"uid":"18313991637804938014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7745888253901552043.mp4"}
+{"uid":"3501446067496883514","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"14254331812048777629.mp4"}
+{"uid":"11946857236136064145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3477633375735425644.mp4"}
+{"uid":"12332029137096186024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7845321088596128013.mp4"}
+{"uid":"348468673567877652","text":"\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"8405586809764312400.mp4"}
+{"uid":"4894152610615497369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9494943501138145154.mp4"}
+{"uid":"15529522795396546570","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8693812079086484960.mp4"}
+{"uid":"13292339830348792758","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can 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":"8576443404404698795.mp4"}
+{"uid":"7154655996151652205","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":"17607371571827977726.mp4"}
+{"uid":"8240108558069461437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5074003792222149203.mp4"}
+{"uid":"9606653591667454681","text":"\u003ctask:success:discrete:True\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"5920720424121039042.mp4"}
+{"uid":"3165681892723160257","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"7085076675107088758.mp4"}
+{"uid":"13442319133685065907","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14649839108654215546.mp4"}
+{"uid":"6148955132133676665","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e","video":"11643343445570182187.mp4"}
+{"uid":"18005499982450518003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can 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: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"15595297763710811236.mp4"}
+{"uid":"5220349006682882648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"2831759443449613650.mp4"}
+{"uid":"17071561173592356788","text":"\u003ctask:success:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e","video":"6948753160357096317.mp4"}
+{"uid":"11910561241813318579","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder Q: immediate next step? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews into the plastic holder. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can in tray 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can in tray\n\u003c/PRED\u003e","video":"14149085223440851161.mp4"}
+{"uid":"131325128509927392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  2 orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3949791328978396905.mp4"}
+{"uid":"18095240916403209338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"13590707795126622238.mp4"}
+{"uid":"11792901693387799957","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5524021393357740236.mp4"}
+{"uid":"17100984691999548712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18419259550800314214.mp4"}
+{"uid":"1241867433286968376","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e","video":"14634621199228258833.mp4"}
+{"uid":"4599797119374041993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the transparent tray in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white sachet holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18386128794844731691.mp4"}
+{"uid":"9877625709760755306","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Put the pip corn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e","video":"4796677937473871694.mp4"}
+{"uid":"6198617192305069765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray 16- adjust the packet 17- put packet in the tray 18- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray 16- adjust the packet 17- put packet in the tray 18- adjust the packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9425177230776570338.mp4"}
+{"uid":"17155844630074135705","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9205336806533489720.mp4"}
+{"uid":"8733411989312733852","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table 6- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table 6- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"2273070188464479423.mp4"}
+{"uid":"17283243899505894654","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Put the pip corn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Put the pip corn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2855929708888418648.mp4"}
+{"uid":"13287715047707591852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17358397162610174988.mp4"}
+{"uid":"8651927159477500667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"8830873774522612442.mp4"}
+{"uid":"1887442689237369628","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- put packet in the tray 4- adjust the packet 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"8876245061538632585.mp4"}
+{"uid":"17618191806909669170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12104784307493130719.mp4"}
+{"uid":"12422203496261065491","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the 2 nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 2 nacho packet on the table 2- Place the nacho packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the 2 nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 2 nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 2 nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 2 nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 2 nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packets on the table 2- Place the nacho packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packets on the table\n\u003c/PRED\u003e","video":"3478916091610324480.mp4"}
+{"uid":"17608224732945758030","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"2141128497334969532.mp4"}
+{"uid":"9330280271477839180","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- put packet in the tray 4- adjust the packet 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"3035872038565734815.mp4"}
+{"uid":"1029361379032591467","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- put packet in the tray 4- adjust the packet 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"14311098009127222370.mp4"}
+{"uid":"14183766352810125206","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"15268198662588221012.mp4"}
+{"uid":"8909699254393577438","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9917206381999918026.mp4"}
+{"uid":"10161011195566669780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3806447313585885764.mp4"}
+{"uid":"8537224226128274026","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray 16- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray 16- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"8650089056813502479.mp4"}
+{"uid":"8804103242168964160","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the pip corn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Put the pip corn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"3438940677716763297.mp4"}
+{"uid":"10985576514806504041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10021906471050323361.mp4"}
+{"uid":"11234131548809013889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"13572036448818599933.mp4"}
+{"uid":"15250406829767121485","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4346093052418585657.mp4"}
+{"uid":"18192000803425008026","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- put packet in the tray 4- adjust the packet 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"5554137853374586293.mp4"}
+{"uid":"12686192000234025100","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Place the popcorn packet on the table 3- Put the pip corn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2352463192241207289.mp4"}
+{"uid":"6126390490789165604","text":"\u003ctask:success:discrete:True\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e","video":"14266915689348656059.mp4"}
+{"uid":"13418270008589717761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npush the tray 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":"308808944966490357.mp4"}
+{"uid":"6483709723192990422","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10671397532237938830.mp4"}
+{"uid":"14884409199231996925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"3666402366665797041.mp4"}
+{"uid":"1100387065934938648","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15609023149565736926.mp4"}
+{"uid":"9966460991060870993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker inside 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":"7527768035103100221.mp4"}
+{"uid":"5770669195221286685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9267636468374674072.mp4"}
+{"uid":"9577770872296954178","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- put packet in the tray 4- adjust the packet 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"13699878849037562676.mp4"}
+{"uid":"1278863417045483653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop spoon 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":"5150485444482913686.mp4"}
+{"uid":"8295723965933409209","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e","video":"13104752594189169639.mp4"}
+{"uid":"9227553333519413649","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":"12665325134697817741.mp4"}
+{"uid":"7805294568015474312","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10230216649879877501.mp4"}
+{"uid":"6968828023823435659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"14795030066613512432.mp4"}
+{"uid":"14386434038223123825","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7103738347941139673.mp4"}
+{"uid":"6195104950080483364","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packets on the table 2- Place the nacho packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the nacho packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4625375573685783917.mp4"}
+{"uid":"8689951696526700028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18224035579380121860.mp4"}
+{"uid":"12525413153232324245","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":"3586337349896721345.mp4"}
+{"uid":"16405290639894773245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista 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":"7157652283417372998.mp4"}
+{"uid":"10981655516957839707","text":"\u003ctask:success:discrete:True\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e","video":"9584354344695694120.mp4"}
+{"uid":"3871002797488513991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Place the popcorn packet on the table 3- Put the pip corn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Place the popcorn packet on the table 3- Put the pip corn 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 pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"7835780431491801844.mp4"}
+{"uid":"12079566121945940343","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- put packet in the tray 4- adjust the packet 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"17046990955140455633.mp4"}
+{"uid":"7689139513598259377","text":"\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e","video":"15420703329385745636.mp4"}
+{"uid":"1675424014210886132","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":"6583803474491860804.mp4"}
+{"uid":"16082882182551386042","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet\n\u003c/PRED\u003e","video":"5999297044523130064.mp4"}
+{"uid":"16616430086628217483","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- adjust the packet 3- put packet in the tray 4- put packet in the tray 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3140434705083022936.mp4"}
+{"uid":"3345019014883878891","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Put the pip corn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e","video":"7037707248159995487.mp4"}
+{"uid":"1019953876295566919","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11673360552310778669.mp4"}
+{"uid":"9499958609841509895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in drawer and close 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":"2679792410203872892.mp4"}
+{"uid":"3970788362845140092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cart to 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":"6688049499532897098.mp4"}
+{"uid":"8870845330114273706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Red Bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5848673321378815237.mp4"}
+{"uid":"2386703036863421810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can inside 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":"4452587744534335486.mp4"}
+{"uid":"16165668393642563928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the 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":"7870003884727496053.mp4"}
+{"uid":"2650920946477667888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the stack of lids Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12207440498220230462.mp4"}
+{"uid":"8771487011450141636","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put packet in the tray 3- put packet in the tray 4- adjust the packet 5- put packet in the tray\n\u003c/PRED\u003e","video":"3524065901638816906.mp4"}
+{"uid":"6111572353802419585","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray 16- adjust the packet 17- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray 16- adjust the packet 17- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e","video":"17460758618275625124.mp4"}
+{"uid":"3112478170271285286","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13019102213135499258.mp4"}
+{"uid":"20620385987952115","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12159513452300346774.mp4"}
+{"uid":"9287970703438880984","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table 6- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table 6- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7093659231405202913.mp4"}
+{"uid":"6635438595908238549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace two 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":"3438598840882476200.mp4"}
+{"uid":"10909460879719527351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green 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":"8023269389079783347.mp4"}
+{"uid":"7613579852535641592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on the backside left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8611622187025162925.mp4"}
+{"uid":"3915943915948696893","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":"16228077708380074288.mp4"}
+{"uid":"7917744473868725032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove basket 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":"5018555228756182943.mp4"}
+{"uid":"8860440661242281350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar candy in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the plastic glass 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":"12765049300540581114.mp4"}
+{"uid":"1483417908281409354","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- adjust the packet 4- put packet in the tray 5- adjust the packet 6- put packet in the tray 7- adjust the packet 8- put packet in the tray 9- put packet in the tray 10- adjust the packet 11- put packet in the tray 12- adjust the packet 13- put packet in the tray 14- adjust the packet 15- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put packet in the tray 3- adjust the packet 4- done\n\u003c/PRED\u003e","video":"6402571457026890751.mp4"}
+{"uid":"13346352559789741983","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\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10533911560172059675.mp4"}
+{"uid":"1203272338949638121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black object in right side basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4104477621804703775.mp4"}
+{"uid":"7423650978753399418","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table 6- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet 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 pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Place the nacho packet on the table 2- Place the nacho packets on the table 3- Place the nacho packet on the table 4- Place the popcorn packet on the table 5- Place the popcorn packet on the table 6- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2485979177529188100.mp4"}
+{"uid":"11600246865820727538","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"10503067414960684073.mp4"}
+{"uid":"661807664207204696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16654667838077055685.mp4"}
+{"uid":"4923447522178801666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7261023281873409206.mp4"}
+{"uid":"8620354521854978829","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"17453904423016869436.mp4"}
+{"uid":"5606509117707577692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput turkey stick on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3969667115941096325.mp4"}
+{"uid":"14937944756455208211","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"6010476873421127278.mp4"}
+{"uid":"3538369677870690266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"16525936153811497323.mp4"}
+{"uid":"111068650155899433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"18251180373478880174.mp4"}
+{"uid":"8063829260946587544","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put popcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"13061721652019439565.mp4"}
+{"uid":"16797602412481927688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  plastic fork in black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13404965045634792389.mp4"}
+{"uid":"14555754694070071361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12290135090768791006.mp4"}
+{"uid":"14676505534707111174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2818617900859897069.mp4"}
+{"uid":"3442133242577650980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the keys 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":"18403048213444438527.mp4"}
+{"uid":"16087703983240475715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3407762071672257581.mp4"}
+{"uid":"1956072889289177218","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8263280573662824032.mp4"}
+{"uid":"1500931826885543261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cups 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":"12568693780471619425.mp4"}
+{"uid":"9987344536978770988","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- put popcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8014985874892643047.mp4"}
+{"uid":"8890376594022878633","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put popcorn packet on the table 5- done\n\u003c/PRED\u003e","video":"2650242601836759203.mp4"}
+{"uid":"1641754707975516637","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"14965218562001930663.mp4"}
+{"uid":"17759160034557182746","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"16885023951945873113.mp4"}
+{"uid":"3667072012401731298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3559772509071659078.mp4"}
+{"uid":"5074626642066052996","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":"16657388522073635477.mp4"}
+{"uid":"14267773781142826147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7963480715680312495.mp4"}
+{"uid":"16764238047759083411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange ball in the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16973814999377713826.mp4"}
+{"uid":"6627820300557408820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoke spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1071594399973954668.mp4"}
+{"uid":"1955215900020543809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white 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":"5602440472041915271.mp4"}
+{"uid":"145119872249290986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a blue pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2830061611805699548.mp4"}
+{"uid":"12124479355371963866","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put popcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"5550650687181460630.mp4"}
+{"uid":"12880455225385312074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1494584410229061028.mp4"}
+{"uid":"6672902695979416872","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"115088130106844460.mp4"}
+{"uid":"4253687838460084363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17702508302511765484.mp4"}
+{"uid":"4787891779067988858","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"3051351138330671960.mp4"}
+{"uid":"4080841696449606365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pillow in the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17933856386696762553.mp4"}
+{"uid":"4462869205912570426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1296073497520668924.mp4"}
+{"uid":"12415686118364974230","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"4163592413577154984.mp4"}
+{"uid":"8336365206702290306","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"17015507474095652010.mp4"}
+{"uid":"6898255910436168736","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put popcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"4163593982113358528.mp4"}
+{"uid":"14630504303770058213","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put popcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10221696238312557244.mp4"}
+{"uid":"8450191049904439426","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12758680317180675213.mp4"}
+{"uid":"12168754938617445112","text":"\u003ctask:success:discrete:True\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"16747719362865279670.mp4"}
+{"uid":"9657716483830647839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the strainer in the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17635163704122011929.mp4"}
+{"uid":"14669220856623791376","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"16067542601914329458.mp4"}
+{"uid":"13814369649950842599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3701179019919635352.mp4"}
+{"uid":"15127136392388752216","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"2278615611406721246.mp4"}
+{"uid":"17098992454131582377","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"18204669912204768564.mp4"}
+{"uid":"4654069431587277881","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15478390938193068487.mp4"}
+{"uid":"4843499986594617090","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"3718849269699640094.mp4"}
+{"uid":"6933567955263373869","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"9937234820974715370.mp4"}
+{"uid":"11919961236523379222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9024943306077464741.mp4"}
+{"uid":"18409621669260963617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10533032378283022559.mp4"}
+{"uid":"2121290365013709652","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"1368235397166191210.mp4"}
+{"uid":"8318308647162063159","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5303326635481979052.mp4"}
+{"uid":"2540776541724398877","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the cushion Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9863582257995792271.mp4"}
+{"uid":"13450804762405988132","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the cushion Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5021673010141324200.mp4"}
+{"uid":"18357167187472050775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon  in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3865774422275071898.mp4"}
+{"uid":"10817536760053075840","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black 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 black packet in the tray\n\u003c/PRED\u003e","video":"12674754167810608511.mp4"}
+{"uid":"5548802105051142424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"964176939235582193.mp4"}
+{"uid":"2219077388215350883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3068873396517285930.mp4"}
+{"uid":"14306067129534725701","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the cushion Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14704808128499393468.mp4"}
+{"uid":"17336882785140630806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3661746689635678094.mp4"}
+{"uid":"7929928503286419073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"111807777848814603.mp4"}
+{"uid":"14377833594844306580","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray 7- place the black packet in the tray 8- place the black packet in the tray 9- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray 7- place the black packet in the tray 8- place the black packet in the tray 9- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 into the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e","video":"9412831130927133025.mp4"}
+{"uid":"10077292120444387931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the hand sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13556569052305719273.mp4"}
+{"uid":"18240576205003761894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14605848384367708966.mp4"}
+{"uid":"2099899154141512801","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":"10696929559415284209.mp4"}
+{"uid":"2205276606377483282","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick battery Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick battery Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick battery Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick battery\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4727303041947102739.mp4"}
+{"uid":"2460851024227167345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14820058993984354923.mp4"}
+{"uid":"12483726902993554225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace popcorn bag on counter from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9331103453735392576.mp4"}
+{"uid":"3033726499996671825","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray 7- place the black packet in the tray 8- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray 7- place the black packet in the tray 8- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e","video":"12951093014349376668.mp4"}
+{"uid":"10814770798817263526","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the chocolate wrapper into the compostables\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the chocolate wrapper into the compostables Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12405900801999222854.mp4"}
+{"uid":"12592874709968039173","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: close door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery Q: next 5 steps? \u003cPRED\u003eA: 1- close door 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery Q: immediate next step? \u003cPRED\u003eA: close door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5651136886199845440.mp4"}
+{"uid":"4501416480177683513","text":"\u003ctask:success:discrete:True\u003e\nadjust the cushion Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e","video":"4791535925727705507.mp4"}
+{"uid":"403939004164590242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15796717031375854696.mp4"}
+{"uid":"13115091843979418647","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the laptop on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 laptop on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop 2- Pick up the laptop 3- Go to the room Q: next 5 steps? \u003cPRED\u003eA: 1- Put the laptop on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop 2- Pick up the laptop 3- Go to the room Q: immediate next step? \u003cPRED\u003eA: Put the laptop on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the laptop on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the laptop on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the laptop on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5352271564136469741.mp4"}
+{"uid":"15869422983880360547","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray\n\u003c/PRED\u003e","video":"8759882860011665182.mp4"}
+{"uid":"11227032131967506732","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e","video":"15370082732356132529.mp4"}
+{"uid":"11808571698055992920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17700428817945475994.mp4"}
+{"uid":"4115193848078773526","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":"13559750331556733468.mp4"}
+{"uid":"7465663826784568695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"14781091516047528221.mp4"}
+{"uid":"1809128006544138524","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the laptop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the laptop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Close the laptop 2- Pick up the laptop 3- Go to the room 4- Put the laptop on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Close the laptop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the laptop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the laptop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the laptop\n\u003c/PRED\u003e","video":"14653272780187631444.mp4"}
+{"uid":"17792885652399529152","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion 4- adjust the cushion Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the cushion Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion 4- adjust the cushion Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cushion 2- adjust the cushion 3- done\n\u003c/PRED\u003e","video":"10647144689719195518.mp4"}
+{"uid":"11915902330122070558","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e","video":"2395911531955067361.mp4"}
+{"uid":"6455362521884489361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"6669475122706643590.mp4"}
+{"uid":"5254169367946334659","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":"4031273792116918448.mp4"}
+{"uid":"6159610790820783047","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":"8598019409907367452.mp4"}
+{"uid":"7224096186336329990","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: next 5 steps? \u003cPRED\u003eA: 1- open door 2- place the battery on table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: immediate next step? \u003cPRED\u003eA: open door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: open door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open door\n\u003c/PRED\u003e","video":"1520805192574776155.mp4"}
+{"uid":"13139735488634701428","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the laptop 2- Go to the room 3- Put the laptop on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop Q: immediate next step? \u003cPRED\u003eA: Pick up the laptop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the laptop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the laptop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the laptop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the laptop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the laptop\n\u003c/PRED\u003e","video":"3169430428854361106.mp4"}
+{"uid":"11954013204921453822","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the cushion Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion 4- adjust the cushion 5- done\n\u003c/PRED\u003e","video":"14494644444736998956.mp4"}
+{"uid":"3931012783320496290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black box in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8130414519975473908.mp4"}
+{"uid":"14531061714904546823","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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":"283782700955861008.mp4"}
+{"uid":"126511032267240297","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the battery\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the battery 2- place the battery on table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: pick up the battery\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the battery Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the battery Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 battery\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: immediate next step? \u003cPRED\u003eA: pick up the battery\n\u003c/PRED\u003e","video":"11450708442850894979.mp4"}
+{"uid":"6330630256066287184","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter into the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8321111101676867670.mp4"}
+{"uid":"17821129345440710631","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two packets in dustbin\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the two packets in the compostable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the two packets in the compostable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput two packets in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7157230365999195249.mp4"}
+{"uid":"18202162851118033151","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the cup on another cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15670473004807553.mp4"}
+{"uid":"10746360916884630571","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the cushion Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion 4- adjust the cushion 5- adjust the cushion\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e","video":"11917778871354024577.mp4"}
+{"uid":"4742606983197425502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the binder clip Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5083539748396574215.mp4"}
+{"uid":"12018897823987977417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15109778905949544127.mp4"}
+{"uid":"9311519648899196179","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the cushion Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3656104114317792793.mp4"}
+{"uid":"15232437913198778541","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop 2- Pick up the laptop Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop 2- Pick up the laptop Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the room 2- Put the laptop on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e","video":"4861066171682870359.mp4"}
+{"uid":"15501420854261255771","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two packets in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two packets in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put two packets in dustbin 2- pick up the battery 3- place the battery on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put two packets in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two packets in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two packets in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: put two packets in dustbin\n\u003c/PRED\u003e","video":"9325237627123201983.mp4"}
+{"uid":"289101319969788633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4754654012941503308.mp4"}
+{"uid":"2028988338310885719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput forks 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":"6769003341504063296.mp4"}
+{"uid":"2196979702779924331","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the battery on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the battery on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the battery on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: place the battery on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery Q: immediate next step? \u003cPRED\u003eA: place the battery on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the battery on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery Q: next 5 steps? \u003cPRED\u003eA: 1- place the battery on table 2- done\n\u003c/PRED\u003e","video":"8349044033733130930.mp4"}
+{"uid":"782912878525060503","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the battery on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put battery on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- place the battery on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput battery 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:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- place the battery on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery 3- put battery on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery 3- put battery on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the battery 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":"186216892996124243.mp4"}
+{"uid":"8938147283963820411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3893470637476967580.mp4"}
+{"uid":"1795884804573457325","text":"\u003ctask:success:discrete:False\u003e\npick battery Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick battery Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: pick battery\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: immediate next step? \u003cPRED\u003eA: pick battery\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: next 5 steps? \u003cPRED\u003eA: 1- pick battery 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick battery\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick battery\n\u003c/PRED\u003e","video":"6219640828261292309.mp4"}
+{"uid":"10004469920771756622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18358174303996977904.mp4"}
+{"uid":"16875914463247311691","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: next 5 steps? \u003cPRED\u003eA: 1- place the battery on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the battery 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: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: place the battery on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the battery on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the battery on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 battery on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: immediate next step? \u003cPRED\u003eA: place the battery on the table\n\u003c/PRED\u003e","video":"18118949098976026779.mp4"}
+{"uid":"17228660076901178477","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery 3- place the battery on 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 battery on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery 3- place the battery on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the battery 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:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15153154635070409433.mp4"}
+{"uid":"1054591910661399132","text":"\u003ctask:success:discrete:True\u003e\nadjust the cushion Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e","video":"8138826232665740335.mp4"}
+{"uid":"5221255953072545851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput animal 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":"4606731490135790622.mp4"}
+{"uid":"9148440662016683947","text":"\u003ctask:success:discrete:True\u003e\npick up the battery Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 battery\n\u003c/PRED\u003e","video":"13231563208706970780.mp4"}
+{"uid":"943647757095584685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3765311576702538037.mp4"}
+{"uid":"4478261707990743786","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black 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 black 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 into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray\n\u003c/PRED\u003e","video":"18324026558343065258.mp4"}
+{"uid":"5904897028648458476","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the cushion Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 fluff all the throw pillows in the sitting area Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion 4- adjust the cushion 5- adjust the cushion Q: immediate next step? \u003cPRED\u003eA: adjust the cushion\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please fluff all the throw pillows in the sitting area. last 20 steps: 1- adjust the cushion 2- adjust the cushion 3- adjust the cushion 4- adjust the cushion 5- adjust the cushion Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cushion 2- done\n\u003c/PRED\u003e","video":"10842233926620309068.mp4"}
+{"uid":"253334540969795372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green box 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":"12639384893205987107.mp4"}
+{"uid":"10062904862300899882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the numi 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":"7950743811739810805.mp4"}
+{"uid":"4779930430264971073","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick two packets\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick two packets\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: pick two packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick two packets 2- pick up the battery 3- place the battery on table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick two packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick two packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick two packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2461810912191354890.mp4"}
+{"uid":"3642474703174309740","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop 2- Pick up the laptop 3- Go to the room 4- Put the laptop on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the laptop on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am packing up for the day, can you take my laptop back to my desk in the room accross from the supply cabinet. last 20 steps: 1- Close the laptop 2- Pick up the laptop 3- Go to the room 4- Put the laptop on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the laptop on the table\n\u003c/PRED\u003e","video":"3676663994997865356.mp4"}
+{"uid":"13864623241562466299","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: next 5 steps? \u003cPRED\u003eA: 1- enter into the room 2- place the battery on table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter into the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter into the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e","video":"18412439677050057894.mp4"}
+{"uid":"3302138472851000756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"880761880992775451.mp4"}
+{"uid":"6080885330462105271","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":"16454289514745915292.mp4"}
+{"uid":"14876707875576994037","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8152968914002521607.mp4"}
+{"uid":"1164014350627460224","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e","video":"13401323396140113029.mp4"}
+{"uid":"1003401153052609404","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put battery on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput battery on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery Q: next 5 steps? \u003cPRED\u003eA: 1- put battery on table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put battery on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5. last 20 steps: 1- drop the chocolate wrapper into the compostables 2- pick up the battery Q: immediate next step? \u003cPRED\u003eA: put battery on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My gopro battery is dying, please go over to RC5 and bring me a new battery in the green bowl. On the way please throw away my trash in the composte bin in front of RC5 Q: immediate next step? \u003cPRED\u003eA: put battery on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput battery on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2857316586158633771.mp4"}
+{"uid":"1307678149077223311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the left orange house plant to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10455280777842005116.mp4"}
+{"uid":"17823535149890168972","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray 7- place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black 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 into the tray Q: immediate next step? \u003cPRED\u003eA: place the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips into the tray. last 20 steps: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- place the black packet in the tray 5- place the black packet in the tray 6- place the black packet in the tray 7- place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet in the tray 2- place the black packet in the tray 3- place the black packet in the tray 4- done\n\u003c/PRED\u003e","video":"13425912826679274586.mp4"}
+{"uid":"159978475163494434","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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the stand 2- put blue marker in the stand 3- put green marker in the stand 4- put pink marker in the stand 5- put stand in center of the table\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: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: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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand Q: immediate next step? \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\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":"2301410158462246713.mp4"}
+{"uid":"13473118470251834116","text":"\u003ctask:success:discrete:False\u003e\nput pink marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand 7- put blue marker in the stand 8- put green marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the stand 2- put stand in center of the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the 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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand 7- put blue marker in the stand 8- put green marker in the stand Q: immediate next step? \u003cPRED\u003eA: put pink 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 pink marker in the stand\n\u003c/PRED\u003e","video":"17060883881057637842.mp4"}
+{"uid":"15779322946723781317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue chocolate in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8157883931389548342.mp4"}
+{"uid":"2308462797147263318","text":"\u003ctask:success:discrete:True\u003e\nput pink marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pink marker in the stand\n\u003c/PRED\u003e","video":"6820124993907294518.mp4"}
+{"uid":"14346275097267240414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2860203447754595950.mp4"}
+{"uid":"13516897467913159933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tape in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9695598837351000800.mp4"}
+{"uid":"15323389230500979855","text":"\u003ctask:success:discrete:True\u003e\nmove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e","video":"362537710184742277.mp4"}
+{"uid":"6914638337488073472","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room Q: immediate next step? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room 2- move the chair towards the table 3- move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair towards the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room 2- move the chair towards the table 3- move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15248339174297844476.mp4"}
+{"uid":"15413779662733199367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"16140799307949307882.mp4"}
+{"uid":"1198604939470262341","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room 2- move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room Q: immediate next step? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room 2- move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair towards the table 2- move the chair towards the table 3- done\n\u003c/PRED\u003e","video":"3949993388350108682.mp4"}
+{"uid":"5296665965855326021","text":"\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 yellow marker in the stand 3- put grey marker in the stand Q: immediate next step? \u003cPRED\u003eA: put grey marker in the stand\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: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 yellow marker in the stand 3- put grey 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 blue marker in the stand 5- put green marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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\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","video":"5769298558381561324.mp4"}
+{"uid":"3079889885999062150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky note 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":"3550115777706969127.mp4"}
+{"uid":"8601925594699731968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9620906259350561103.mp4"}
+{"uid":"10841988156212634093","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scoop 2- place Pistachios in the cup 3- place Pistachios in the cup 4- place Pistachios in the cup 5- place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e","video":"6298702553137565362.mp4"}
+{"uid":"8390540189540919858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the jar 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":"10205137093666453246.mp4"}
+{"uid":"14074454499835644235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14405240964118229929.mp4"}
+{"uid":"7124232806649023986","text":"\u003ctask:success:discrete:False\u003e\nmove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room Q: immediate next step? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair towards the table 2- move the chair towards the table 3- move the chair towards the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room Q: immediate next step? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e","video":"3068489530181499446.mp4"}
+{"uid":"13402651880351179828","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: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: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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand 7- put blue 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 stand in center of the table 4- 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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand 7- put blue 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: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","video":"13005520510257423323.mp4"}
+{"uid":"10933808179356502797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stack to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6786511592387810131.mp4"}
+{"uid":"15862184724425088676","text":"\u003ctask:success:discrete:True\u003e\nmove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e","video":"12988231311134860459.mp4"}
+{"uid":"13266689418504332033","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":"4950653277285945169.mp4"}
+{"uid":"1135534540766794133","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in the stand\n\u003c/PRED\u003e\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: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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in the stand 2- put green marker in the stand 3- put pink marker in the stand 4- put stand in center of the table 5- 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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand Q: immediate next step? \u003cPRED\u003eA: put blue marker in the stand\n\u003c/PRED\u003e","video":"17670585272040178904.mp4"}
+{"uid":"17140265537657120727","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- place Pistachios in the cup 2- place Pistachios in the cup 3- place Pistachios in the cup 4- place the scoop in the holder 5- place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e","video":"16651450544601001734.mp4"}
+{"uid":"15950021614426335723","text":"\u003ctask:success:discrete:False\u003e\nplace the cup at the center of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup at the center of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup at the center of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup at the center of the table 2- place the cup upright on the table 3- pick up the scoop 4- place Pistachios in the cup 5- place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table Q: immediate next step? \u003cPRED\u003eA: place the cup at the center of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup at the center of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place the cup at the center of the table\n\u003c/PRED\u003e","video":"8994449242372336637.mp4"}
+{"uid":"13844789158526300545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop green rice chip bag in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16498889674511530594.mp4"}
+{"uid":"9940947625429563214","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the holder 2- place the scoop in the holder 3- place the jar lid on the jar 4- pick up the cup 5- place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e","video":"12247568874305220778.mp4"}
+{"uid":"16202203721302388404","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the jar lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the jar 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":"13618748469716821500.mp4"}
+{"uid":"8681352273666496559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17817621000211121134.mp4"}
+{"uid":"16881855371794396798","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":"10623647342811009200.mp4"}
+{"uid":"14441100028870474384","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask: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 yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the stand\n\u003c/PRED\u003e\u003ctask: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 yellow marker in the stand 2- put grey 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: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: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","video":"11834585048533393266.mp4"}
+{"uid":"5165266492605658962","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":"3678623700220375999.mp4"}
+{"uid":"9255425515789444856","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid Q: immediate next step? \u003cPRED\u003eA: place the jar lid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \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: place the jar lid 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 cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the jar lid on the table 2- place the cup at the center of the table 3- place the cup upright on the table 4- pick up the scoop 5- place Pistachios in the cup\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: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","video":"13817838909924929611.mp4"}
+{"uid":"646532334497266008","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\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:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder 10- place the scoop in the holder 11- place the jar lid on the jar Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder 10- place the scoop in the holder 11- place the jar lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- place the cup on the table 3- done\n\u003c/PRED\u003e","video":"3624456735359033807.mp4"}
+{"uid":"2809349307206802602","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: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 yellow marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put grey 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 blue 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 yellow 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: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: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","video":"10990879008668803171.mp4"}
+{"uid":"13925647488115291253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10113197229483863313.mp4"}
+{"uid":"4233002480349458536","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- move the chair towards the table 3- move the chair towards the table 4- move the chair towards the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"18205757747114078201.mp4"}
+{"uid":"4557798881685938161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3818634188915844767.mp4"}
+{"uid":"9084946326050452645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7706964097613674046.mp4"}
+{"uid":"6417481060385130884","text":"\u003ctask:success:discrete:False\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder 10- place the scoop in the holder 11- place the jar lid on the jar 12- pick up the cup Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder 10- place the scoop in the holder 11- place the jar lid on the jar 12- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- done\n\u003c/PRED\u003e","video":"9846292973345851848.mp4"}
+{"uid":"17192283629861126673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a ROLD GOLD packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7735887520009503912.mp4"}
+{"uid":"6266885958715444990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red 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":"595952608873824574.mp4"}
+{"uid":"5977985846273629940","text":"\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\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: Place the writing utensils in the pen holder. last 20 steps: 1- put stand upright 2- put yellow marker in the stand 3- put grey marker in the stand 4- 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 blue marker in the stand 4- put green marker in the stand 5- put pink 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\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: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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand Q: immediate next step? \u003cPRED\u003eA: put black marker in the stand\n\u003c/PRED\u003e","video":"13063724091299388380.mp4"}
+{"uid":"15811064921253569487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the left cupboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10373353209419847322.mp4"}
+{"uid":"17655130595734782566","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace Pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10865100853346488133.mp4"}
+{"uid":"7199173964792006585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sanitizer bottle 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":"7158978839482617222.mp4"}
+{"uid":"12113228162899364527","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":"4256382858315562181.mp4"}
+{"uid":"5634279289945225746","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":"9325800165999458312.mp4"}
+{"uid":"16190798312127901212","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14957884747043034720.mp4"}
+{"uid":"1718593948415855306","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stand upright\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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- 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: none Q: immediate next step? \u003cPRED\u003eA: put stand upright\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: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","video":"14090561540675522726.mp4"}
+{"uid":"1617977111612822635","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the holder 2- place the jar lid on the jar 3- pick up the cup 4- place the cup on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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","video":"14375800531931001913.mp4"}
+{"uid":"16841434400616205339","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place Pistachios in the cup 2- place the scoop in the holder 3- place the scoop in the holder 4- place the jar lid on the jar 5- pick up the cup\n\u003c/PRED\u003e","video":"17584170759368185075.mp4"}
+{"uid":"6571918254597281897","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place Pistachios in the cup 2- place Pistachios in the cup 3- place the scoop in the holder 4- place the scoop in the holder 5- place the jar lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e","video":"10415363258227934016.mp4"}
+{"uid":"16697099368488828459","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput green marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10163268550339268609.mp4"}
+{"uid":"15234083344192741374","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup upright 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":"16844470139371008903.mp4"}
+{"uid":"2831678373005075517","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":"14606806838337107935.mp4"}
+{"uid":"15752284482986223615","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace Pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16552665759982315315.mp4"}
+{"uid":"1007171521108245316","text":"\u003ctask:success:discrete:True\u003e\nplace Pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place Pistachios in the cup\n\u003c/PRED\u003e","video":"5500553448311282450.mp4"}
+{"uid":"8575610383543560740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the left indoor plant to the left a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4493563783266030805.mp4"}
+{"uid":"15281215766699145664","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the jar 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:success:discrete:False\u003e\nplace the jar 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder 10- place the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: place the jar lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place the jar lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the jar lid on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop 6- place Pistachios in the cup 7- place Pistachios in the cup 8- place Pistachios in the cup 9- place the scoop in the holder 10- place the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the jar lid on the jar 2- pick up the cup 3- place the cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the jar lid on the jar\n\u003c/PRED\u003e","video":"880837600928599545.mp4"}
+{"uid":"4119960895325081797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room 2- move the chair towards the table 3- move the chair towards the table 4- move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please push in all the chairs in whitney conference room. last 20 steps: 1- enter the room 2- move the chair towards the table 3- move the chair towards the table 4- move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6485375346206268019.mp4"}
+{"uid":"15862331701166203435","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup upright on the table 2- pick up the scoop 3- place Pistachios in the cup 4- place Pistachios in the cup 5- place Pistachios in the cup\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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 cup upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table Q: immediate next step? \u003cPRED\u003eA: place the cup upright on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: place the cup upright on the table\n\u003c/PRED\u003e\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","video":"9217816928914280295.mp4"}
+{"uid":"5721550308092995990","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the jar 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk Q: immediate next step? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please cup me some pistachios and place them on my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the jar lid 2- place the jar lid on the table 3- place the cup at the center of the table 4- place the cup upright on the table 5- pick up the scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the jar 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","video":"4785375176244980524.mp4"}
+{"uid":"5051117679921469888","text":"\u003ctask:success:discrete:False\u003e\nput stand in center 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: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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand 7- put blue marker in the stand 8- put green marker in the stand 9- put pink marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put stand in center of the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stand in center of the table\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 in center of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput stand in center 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: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 yellow marker in the stand 3- put grey marker in the stand 4- put grey marker in the stand 5- put black marker in the stand 6- put green marker in the stand 7- put blue marker in the stand 8- put green marker in the stand 9- put pink marker in the stand Q: immediate next step? \u003cPRED\u003eA: put stand in center of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stand in center of the table\n\u003c/PRED\u003e","video":"2291065094942657972.mp4"}
+{"uid":"14169183911837947581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"13135198285735626106.mp4"}
+{"uid":"12898962242195361378","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput brown paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11776041340091035114.mp4"}
+{"uid":"10302094033406719870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black pebble into the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17371299941347509463.mp4"}
+{"uid":"4197325216997354451","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a spoon on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a spoon on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12428680363482646080.mp4"}
+{"uid":"6312086215445070501","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the holder 2- place pen in the holder 3- place pens in the holder 4- place pen in the holder 5- place pen in the holder\n\u003c/PRED\u003e","video":"13087864555395349736.mp4"}
+{"uid":"3447593717534341988","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace clip 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 office supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace clip 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 office supplies into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e","video":"5622530867902017621.mp4"}
+{"uid":"2799916274979475235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1431367121552631454.mp4"}
+{"uid":"15628601209842222877","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put instant oatmeal pack in cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put instant oatmeal pack in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put instant oatmeal pack in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put instant oatmeal pack in cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table 5- place orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput instant oatmeal pack in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput instant oatmeal pack in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put instant oatmeal pack in cup\n\u003c/PRED\u003e","video":"10009700036533415537.mp4"}
+{"uid":"14585911593122457726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12240654721984979534.mp4"}
+{"uid":"1081696575945400096","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table Q: immediate next step? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on brown paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on brown 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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on brown paper 2- place orange on table 3- done\n\u003c/PRED\u003e","video":"8777207366425199613.mp4"}
+{"uid":"4609484555334385270","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder 15- place pen in the holder 16- place pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the holder 2- place pen in the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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 office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder 15- place pen in the holder 16- place pens in the holder Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e","video":"4228742181998275025.mp4"}
+{"uid":"12603173161591687939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid 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":"6193406526480376816.mp4"}
+{"uid":"13001366573036150818","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place marker in the holder 2- place marker in the holder 3- place marker in the holder 4- place marker in the holder 5- place tape in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1998609049343280538.mp4"}
+{"uid":"2497798601146592018","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place tissue paper on table 2- place a spoon on table 3- place orange on table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace tissue paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper Q: immediate next step? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissue paper on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e","video":"212894468909198502.mp4"}
+{"uid":"12403040947275636149","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":"403468116401773937.mp4"}
+{"uid":"1807199785965372920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8135616840123331814.mp4"}
+{"uid":"5160035596035740368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3641582209984401339.mp4"}
+{"uid":"5758133398778350129","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange 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 orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table Q: immediate next step? \u003cPRED\u003eA: place orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on table\n\u003c/PRED\u003e","video":"13290523773307582363.mp4"}
+{"uid":"7632626409874643999","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder Q: immediate next step? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace clip 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 office supplies into the holder. last 20 steps: 1- place clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place clip in the holder 2- place clip in the holder 3- place marker in the holder 4- place marker in the holder 5- place marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e","video":"16882202618201375530.mp4"}
+{"uid":"10982959955356043168","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":"14655078838718501746.mp4"}
+{"uid":"2374640639170204439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4569280380992451877.mp4"}
+{"uid":"14534024754650280606","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon on a table 2- place orange on table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table Q: immediate next step? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spoon on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e","video":"3199729841663556883.mp4"}
+{"uid":"10911580347584757611","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder 15- place pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pens in the holder 2- place pen in the holder 3- place pen in the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder 15- place pen in the holder Q: immediate next step? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2427907762728012648.mp4"}
+{"uid":"10056756369810597109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"10830063114876833175.mp4"}
+{"uid":"3242524166753491186","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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 office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the holder 2- place pen in the holder 3- place pen in the holder 4- place pens in the holder 5- place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e","video":"2117545797643933221.mp4"}
+{"uid":"785459853393477492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the game 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":"12857168176022639066.mp4"}
+{"uid":"12123726359692753450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove close to the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14617332285634747743.mp4"}
+{"uid":"9111637903236821197","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place marker in the holder 2- place marker in the holder 3- place marker in the holder 4- place tape in the holder 5- place black object in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e","video":"6880255994548712845.mp4"}
+{"uid":"11227863393052901163","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":"16100041776801695287.mp4"}
+{"uid":"692056535385229691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wet wipes packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7467641260286052145.mp4"}
+{"uid":"10587689479226689916","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place marker in the holder 2- place marker in the holder 3- place tape in the holder 4- place black object in the holder 5- place marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e","video":"457763923999541400.mp4"}
+{"uid":"804657148287454357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker on the board 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":"18302550820719128416.mp4"}
+{"uid":"16565966704890427167","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":"9057038621017472155.mp4"}
+{"uid":"16004358769660814401","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table 5- drop the orange on a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table 5- drop the orange on a table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e","video":"13318845292916123903.mp4"}
+{"uid":"4043563696222059228","text":"\u003ctask:success:discrete:True\u003e\ndrop packet into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into cup\n\u003c/PRED\u003e","video":"3478060726027169147.mp4"}
+{"uid":"1006744003825796070","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":"4549813976819655940.mp4"}
+{"uid":"15736440799127267184","text":"\u003ctask:success:discrete:False\u003e\nplace tape in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tape in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place tape in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tape in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tape 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 office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder Q: immediate next step? \u003cPRED\u003eA: place tape in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place tape in the holder 2- place black object in the holder 3- place marker in the holder 4- place marker in the holder 5- place pen in the holder\n\u003c/PRED\u003e","video":"1504742420779108236.mp4"}
+{"uid":"5219781994527212898","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table Q: immediate next step? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on a table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7148189476272301035.mp4"}
+{"uid":"15344317939738565947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky note into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1081640110605232217.mp4"}
+{"uid":"1468646574034059626","text":"\u003ctask:success:discrete:False\u003e\ndrop packet into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop packet into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table 5- place orange on table\n\u003c/PRED\u003e","video":"6588719453021145650.mp4"}
+{"uid":"5710341814196342814","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":"10765368132367228091.mp4"}
+{"uid":"17348005615485972958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spatula 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":"8901718627654637199.mp4"}
+{"uid":"1842141322433280913","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place marker in the holder 2- place tape in the holder 3- place black object in the holder 4- place marker in the holder 5- place marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e","video":"17789878606422818765.mp4"}
+{"uid":"7201857693000831287","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place marker in the holder 2- place marker in the holder 3- place marker in the holder 4- place marker in the holder 5- place marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13809453809736142885.mp4"}
+{"uid":"3408632608510472349","text":"\u003ctask:success:discrete:True\u003e\nplace orange 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:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table 5- place orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table 5- place orange on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18420940042284642067.mp4"}
+{"uid":"12021190035232969744","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup Q: immediate next step? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put brown paper on table 2- place a spoon on table 3- place orange on table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown paper on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"326530130745056506.mp4"}
+{"uid":"5230782262525407092","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon on table 2- place orange on table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table Q: immediate next step? \u003cPRED\u003eA: place a spoon on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a spoon on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place a spoon on table\n\u003c/PRED\u003e","video":"16801335129464421911.mp4"}
+{"uid":"11879996917238006592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass 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":"11789606013550191650.mp4"}
+{"uid":"5003069796333409135","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder 15- place pen in the holder 16- place pens in the holder 17- place pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder 15- place pen in the holder 16- place pens in the holder 17- place pen in the holder Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e","video":"3855581102378988919.mp4"}
+{"uid":"8742996880312881313","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":"6323427387859798599.mp4"}
+{"uid":"14139380554568388133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a blue 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":"14843733482015095966.mp4"}
+{"uid":"3406848125737792290","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place marker in the holder 2- place marker in the holder 3- place pen in the holder 4- place pen in the holder 5- place pen in the holder\n\u003c/PRED\u003e","video":"5985758013341671448.mp4"}
+{"uid":"17262302647296365749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut plastic fork in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17534131300732693467.mp4"}
+{"uid":"9302803514047574417","text":"\u003ctask:success:discrete:True\u003e\ndrop the paper in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper in a cup\n\u003c/PRED\u003e","video":"4518274771966443252.mp4"}
+{"uid":"2110028997820574494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5944360970033158781.mp4"}
+{"uid":"11936736610775929551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7508214438043178641.mp4"}
+{"uid":"12274321586051999335","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the holder 2- place pens in the holder 3- place pen in the holder 4- place pen in the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder 12- place marker in the holder 13- place pen in the holder 14- place pen in the holder Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place pen in the holder\n\u003c/PRED\u003e","video":"1133166552523895807.mp4"}
+{"uid":"4801420409699688105","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue paper on a table 2- place a spoon on table 3- place orange on table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue paper on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6687656342757146065.mp4"}
+{"uid":"5753853571319117875","text":"\u003ctask:success:discrete:True\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e","video":"3542781197184213651.mp4"}
+{"uid":"4334467255231821686","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tissue paper 2- place tissue paper on table 3- place a spoon on table 4- place orange on table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup Q: immediate next step? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e","video":"1631220127657441063.mp4"}
+{"uid":"12579393436305844377","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":"6155745892154033856.mp4"}
+{"uid":"34036811863448940","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder Q: immediate next step? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place clip in the holder 2- place marker in the holder 3- place marker in the holder 4- place marker in the holder 5- place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place clip in the holder\n\u003c/PRED\u003e","video":"6496517506464160391.mp4"}
+{"uid":"10054801414255687668","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the spoon on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12870811147485255599.mp4"}
+{"uid":"5236416491940856042","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place marker in the holder 2- place pen in the holder 3- place pen in the holder 4- place pen in the holder 5- place pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder 10- place black object in the holder 11- place marker in the holder Q: immediate next step? \u003cPRED\u003eA: place marker in the holder\n\u003c/PRED\u003e","video":"14751978150549606749.mp4"}
+{"uid":"15521293547679151632","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace tissue paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7586555988989672610.mp4"}
+{"uid":"4263545500836026407","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":"6215343904105793032.mp4"}
+{"uid":"10456703619031057841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7475768698940755931.mp4"}
+{"uid":"11852164271454746428","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the paper in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the paper in a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper in a cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table 5- place orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper in a cup\n\u003c/PRED\u003e","video":"16194276510580555879.mp4"}
+{"uid":"17813547424866542880","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop packet into cup 2- pull the tissue paper 3- place tissue paper on table 4- place a spoon on table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"1998553691912536124.mp4"}
+{"uid":"6885721702655943917","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black object 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 office supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place black object in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place black object in the holder 2- place marker in the holder 3- place marker in the holder 4- place pen in the holder 5- place pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black object 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 office supplies into the holder. last 20 steps: 1- place clip in the holder 2- place clip in the holder 3- place clip in the holder 4- place marker in the holder 5- place marker in the holder 6- place marker in the holder 7- place marker in the holder 8- place marker in the holder 9- place tape in the holder Q: immediate next step? \u003cPRED\u003eA: place black object in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black object in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black object in the holder\n\u003c/PRED\u003e","video":"8330437523786182664.mp4"}
+{"uid":"7845063658875163767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wire inside 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":"16874711359893036573.mp4"}