diff --git "a/json/train/data-00041-of-00160.json" "b/json/train/data-00041-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00041-of-00160.json"
@@ -0,0 +1,285 @@
+{"uid":"652638239574066903","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e","video":"2570652045744790247.mp4"}
+{"uid":"3066489229680164496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle in 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":"7480658060008397589.mp4"}
+{"uid":"4394819019757993836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"18188695279628828870.mp4"}
+{"uid":"6775331371124579751","text":"\u003ctask:success:discrete:True\u003e\nrelease 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: release the pen in the holder\n\u003c/PRED\u003e","video":"10077841898151849965.mp4"}
+{"uid":"10286157757865669470","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":"2230881248192958555.mp4"}
+{"uid":"12803395417703644184","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"7120343378068368733.mp4"}
+{"uid":"16071196179201910189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5494727897919880304.mp4"}
+{"uid":"3307295839476074053","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e","video":"5920715608642246737.mp4"}
+{"uid":"4393623268680263030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the file backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2791921660612293751.mp4"}
+{"uid":"8162457830027166304","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen on the table 2- Move close to the pen 3- Pick a pen 4- pick a pen from the table 5- release the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a 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:success:discrete:False\u003e\npick a pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3019756421657169467.mp4"}
+{"uid":"5017640471480634277","text":"\u003ctask:success:discrete:True\u003e\nMove close to 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: Move close to the pen\n\u003c/PRED\u003e","video":"4893898181873419963.mp4"}
+{"uid":"17523329786269616259","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table.\n\u003c/PRED\u003e","video":"18089855170060861717.mp4"}
+{"uid":"14630388925727425711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the star object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4747638723057864062.mp4"}
+{"uid":"1857489509146680573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7928611043895623199.mp4"}
+{"uid":"550540707980015652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8080963743329367973.mp4"}
+{"uid":"436946489690064404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6562183076275045677.mp4"}
+{"uid":"5483273452790581443","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow highlighter into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: Drop the yellow highlighter into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow highlighter into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow highlighter into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow highlighter into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow highlighter into the holder 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow highlighter into the holder\n\u003c/PRED\u003e","video":"145300598842891058.mp4"}
+{"uid":"18342737755453878593","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the yellow highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the yellow highlighter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- grab the yellow highlighter 2- Release the yellow highlighter in the black holder 3- Move your arm close to the sticky note 4- Grab the sticky note 5- pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: grab the yellow highlighter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: grab the yellow highlighter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the yellow highlighter\n\u003c/PRED\u003e","video":"13454131398557396500.mp4"}
+{"uid":"6530712908323117719","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":"8498461405864214062.mp4"}
+{"uid":"13236420243058848196","text":"\u003ctask:success:discrete:True\u003e\npick up the right pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e","video":"5254237153387549993.mp4"}
+{"uid":"12711422306755164226","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":"363553020955775881.mp4"}
+{"uid":"12802560235792100716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"4347734050591675678.mp4"}
+{"uid":"2985619218056535917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8054166863198110845.mp4"}
+{"uid":"8612190033355106932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"118022096545328246.mp4"}
+{"uid":"13158505693575379084","text":"\u003ctask:success:discrete:True\u003e\nDrop the sticky note into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e","video":"11891925291833644678.mp4"}
+{"uid":"1620722643720251354","text":"\u003ctask:success:discrete:True\u003e\nRelease the black 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: Release the black pen in the holder\n\u003c/PRED\u003e","video":"17644171442572138504.mp4"}
+{"uid":"7372024436677412386","text":"\u003ctask:success:discrete:True\u003e\nrelease 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: release the pen in the holder\n\u003c/PRED\u003e","video":"8774541025512817950.mp4"}
+{"uid":"14093124971272155768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the right most strainer into the right second white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9548219711944921471.mp4"}
+{"uid":"1277479697781660244","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the black 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: Drag the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drag the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: immediate next step? \u003cPRED\u003eA: Drag the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the black holder 2- Pick up the yellow highlighter 3- Release the yellow highlighter in the black holder 4- Move your arm close to the sticky note 5- Grab the sticky note\n\u003c/PRED\u003e","video":"11947438122971938474.mp4"}
+{"uid":"11230905793065663368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife's 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":"5142715485247156567.mp4"}
+{"uid":"11439812242794271816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 6 gripper in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4260100299996463768.mp4"}
+{"uid":"11578075762316253149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13053012479807464187.mp4"}
+{"uid":"537334144145654162","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue 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":"6845604076101979733.mp4"}
+{"uid":"16416417450482639288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2041720607886730720.mp4"}
+{"uid":"1583074304188028645","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move your arm close to the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the holder 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: move your arm close to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to 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":"10021248697194245548.mp4"}
+{"uid":"3107364552711250203","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab 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":"9581025856402892440.mp4"}
+{"uid":"5492895254481652054","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: immediate next step? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black pen in the holder 2- Pick up the pen 3- release the pen in the holder 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e","video":"6501127611632659913.mp4"}
+{"uid":"7988076121113726984","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker 2- Move your arm close to the sticky note 3- Grab the sticky note 4- pick up the sticky notes 5- release the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e","video":"8811326907984949113.mp4"}
+{"uid":"155504274837579216","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the right pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8437695870098948990.mp4"}
+{"uid":"4946290064583151602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12917868969108404029.mp4"}
+{"uid":"16805928562409673040","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the black pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the black pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6582936128267374264.mp4"}
+{"uid":"12626535829096176005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3417484566973563721.mp4"}
+{"uid":"15685617152643662106","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: immediate next step? \u003cPRED\u003eA: pick up the marker from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the marker from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the marker from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the marker from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker from the table. 2- Release the yellow highlighter in the black holder 3- Move your arm close to the sticky note 4- Grab the sticky note 5- pick up the sticky notes\n\u003c/PRED\u003e","video":"6599069841157276484.mp4"}
+{"uid":"14342338898586577785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13422953817946456712.mp4"}
+{"uid":"15508346039529983804","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- lift the yellow marker 2- Move your arm close to the sticky note 3- Grab the sticky note 4- pick up the sticky notes 5- release the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: lift the yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: lift the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15070487557519654630.mp4"}
+{"uid":"11146443147857733907","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick a 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":"14446381081564847176.mp4"}
+{"uid":"18033864348206729699","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":"8484747655569737992.mp4"}
+{"uid":"17737442094172480709","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow marker 2- Release the yellow highlighter in the black holder 3- Move your arm close to the sticky note 4- Grab the sticky note 5- pick up the sticky notes\n\u003c/PRED\u003e","video":"3760113691654431823.mp4"}
+{"uid":"15371238174312260534","text":"\u003ctask:success:discrete:False\u003e\nPick a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pen 2- pick a pen from the table 3- Release the blue pen in the black holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a 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":"3507788910749501671.mp4"}
+{"uid":"13278257320502637462","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the black holder 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the black 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 into the black holder\n\u003c/PRED\u003e","video":"11806651053081868309.mp4"}
+{"uid":"14385454490328684484","text":"\u003ctask:success:discrete:False\u003e\nrelease the yellow highlighter in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: release the yellow highlighter in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: release the yellow highlighter in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the yellow highlighter 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: release the yellow highlighter in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- release the yellow highlighter in the holder 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the yellow highlighter in the holder\n\u003c/PRED\u003e","video":"11430554141068001240.mp4"}
+{"uid":"17243927257041517214","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right pen from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right pen from the table. 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: immediate next step? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e","video":"17565210719163318379.mp4"}
+{"uid":"14612821011914760632","text":"\u003ctask:success:discrete:False\u003e\nRelease the black pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the black pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black pen on the table 2- release the pen in the holder 3- adjust the holder 4- Pick up the pen 5- release the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: Release the black pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13068129742239027179.mp4"}
+{"uid":"3359735010510880567","text":"\u003ctask:success:discrete:True\u003e\npick up the sticky notes from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sticky notes from the table.\n\u003c/PRED\u003e","video":"12608310365759748385.mp4"}
+{"uid":"12719630538799487345","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the black holder downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the black holder downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the black holder downwards 2- Pick up the yellow highlighter 3- Release the yellow highlighter in the black holder 4- Move your arm close to the sticky note 5- Grab the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the black holder downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move the black holder downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the black holder downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the black holder downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6940914489592503759.mp4"}
+{"uid":"14368146228139186105","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the yellow highlighter 2- Release the yellow highlighter in the black holder 3- Move your arm close to the sticky note 4- Grab the sticky note 5- pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the yellow highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e","video":"3232530827689945828.mp4"}
+{"uid":"1500121487609034551","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":"10080399032080123135.mp4"}
+{"uid":"17418654395343797386","text":"\u003ctask:success:discrete:True\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e","video":"12530228595921960851.mp4"}
+{"uid":"11741945173538023587","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":"14865380431370699456.mp4"}
+{"uid":"12128443476434367115","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue pen 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue 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: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e","video":"2674815267398935894.mp4"}
+{"uid":"9115836948144988859","text":"\u003ctask:success:discrete:False\u003e\ngrasp the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the black 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: grasp the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: grasp the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grasp the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the black holder 2- Pick up the yellow highlighter 3- Release the yellow highlighter in the black holder 4- Move your arm close to the sticky note 5- Grab the sticky note\n\u003c/PRED\u003e","video":"15750269166832295057.mp4"}
+{"uid":"13287974294302635631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the Pepsi on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10282920966187205317.mp4"}
+{"uid":"17482163947967914567","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- pick up the sticky notes 3- release the sticky notes in the holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"7298051922081289185.mp4"}
+{"uid":"17732615994405013511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18334350468343548221.mp4"}
+{"uid":"11003013129017767184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace glass in a line Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7961264209181890889.mp4"}
+{"uid":"2089909148511660207","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to 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:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the sticky notes 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: immediate next step? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to 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":"1517010726739121816.mp4"}
+{"uid":"7681890871201422663","text":"\u003ctask:success:discrete:True\u003e\nPick up the black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e","video":"16455849899240049703.mp4"}
+{"uid":"350491877973858655","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to 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: move your arm close to the sticky notes\n\u003c/PRED\u003e","video":"8926797628444575057.mp4"}
+{"uid":"12154967553789993324","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: immediate next step? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a 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 a pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pen 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e","video":"1794487502784443256.mp4"}
+{"uid":"3000027765387685524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly push the trolley stand 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":"16609656393252679102.mp4"}
+{"uid":"11245303417045254924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork 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":"3251929792054219770.mp4"}
+{"uid":"727028627350026532","text":"\u003ctask:success:discrete:True\u003e\npick a pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e","video":"1826144338670113172.mp4"}
+{"uid":"2600252979903306133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the jar with lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10192959008075720246.mp4"}
+{"uid":"7888923658516692648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10434716177242913639.mp4"}
+{"uid":"4693288182059429142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the black 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":"15301738364034473010.mp4"}
+{"uid":"14888602162923240848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pebbles in the hole Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15989745529527548172.mp4"}
+{"uid":"2014375753345736167","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: Release the yellow highlighter in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- Release the yellow highlighter in the black holder 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the yellow highlighter in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the yellow highlighter in the black 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: Release the yellow highlighter in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the yellow highlighter in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the yellow highlighter in the black 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":"1092092272670581556.mp4"}
+{"uid":"10961681739662827411","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":"12295392274378618320.mp4"}
+{"uid":"14354055374131831560","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: place the marker in the left black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker in the left black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the left black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the left black holder 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the left black 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 organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: place the marker in the left black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the left black holder\n\u003c/PRED\u003e","video":"9607920406795676822.mp4"}
+{"uid":"2944125129133149514","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":"10228455125605933916.mp4"}
+{"uid":"8531441359638616515","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to a black 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:success:discrete:False\u003e\nMove your arm close to a black 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: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to a black pen 2- Drop the pen into the holder 3- pick a pen from the table 4- Release the blue pen in the black holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e","video":"8285442622137004927.mp4"}
+{"uid":"2377783906560617725","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to 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":"6033491481527384768.mp4"}
+{"uid":"12910394397759673361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black pen in the black holder 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black pen in the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: immediate next step? \u003cPRED\u003eA: Release the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the black pen in the black 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":"11390071161734584192.mp4"}
+{"uid":"17899830876968736149","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab 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":"17104735540552416836.mp4"}
+{"uid":"13326581603677432103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cups in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15080033669065325238.mp4"}
+{"uid":"8389042459910033495","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm close to 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":"6197816774007847480.mp4"}
+{"uid":"10318481121640152115","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen on the table 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a 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: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e","video":"16105937788327184276.mp4"}
+{"uid":"4306804178102685281","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen into the holder 2- Move close to the pen 3- Pick a pen 4- pick a pen from the table 5- release the pen in the holder\n\u003c/PRED\u003e","video":"17099471850427389811.mp4"}
+{"uid":"12291726945975192864","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":"17111939266499583639.mp4"}
+{"uid":"7419190923593154708","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes Q: immediate next step? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sticky note into the holder 2- Move close to the pen 3- Pick a pen 4- Drop the pen into the holder 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sticky note into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e","video":"7396979856131399876.mp4"}
+{"uid":"9461434265079630033","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the left black holder. 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: place the pen in the left black holder.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the left black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: place the pen in the left black holder.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the left black holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the left black holder. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the left black holder.\n\u003c/PRED\u003e","video":"6503232593375107216.mp4"}
+{"uid":"7516272586430211209","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move away from the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the black 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: move away from the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: immediate next step? \u003cPRED\u003eA: move away from the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the black holder 2- Pick up the yellow highlighter 3- Release the yellow highlighter in the black holder 4- Move your arm close to the sticky note 5- Grab the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the black holder\n\u003c/PRED\u003e","video":"3038219852852526417.mp4"}
+{"uid":"13843788082962426235","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to 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":"16845733667379213947.mp4"}
+{"uid":"13935933467577437093","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":"8039456901127148608.mp4"}
+{"uid":"4497259389452766895","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the black 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: go to the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- go to the black holder 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the black 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: go to the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: go to the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: go to the black holder\n\u003c/PRED\u003e","video":"12744166148011724673.mp4"}
+{"uid":"17333113387554362208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4738085472001443065.mp4"}
+{"uid":"6396007274247238883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rold gold 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":"7248758657012598099.mp4"}
+{"uid":"11379387426730314453","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm close to a black 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":"17357405613435790738.mp4"}
+{"uid":"14880472176509044449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove 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":"14843530762341269723.mp4"}
+{"uid":"740401337993966923","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm close to the black 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":"4538355649693545670.mp4"}
+{"uid":"5930308401246021481","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the black 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":"6677558775160899908.mp4"}
+{"uid":"16535447869559468023","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the black 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":"15681974238246970750.mp4"}
+{"uid":"2654675770264982718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10410409277090273479.mp4"}
+{"uid":"4941099612791120302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13332339060698588849.mp4"}
+{"uid":"1349157869373173198","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":"12692232673312564698.mp4"}
+{"uid":"71829383209612899","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":"7956959125686672646.mp4"}
+{"uid":"4409220753206869632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11041443458045551093.mp4"}
+{"uid":"10490831005402787841","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen from the table 2- adjust the holder 3- Pick up the pen 4- release the pen in the holder 5- move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e","video":"4224078681042361461.mp4"}
+{"uid":"17395898664581046754","text":"\u003ctask:success:discrete:False\u003e\nrelease the sticky notes 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes Q: immediate next step? \u003cPRED\u003eA: release the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: release the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- release the sticky notes in the holder 2- Move close to the pen 3- Pick a pen 4- Drop the pen into the holder 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the sticky notes 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: release the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the sticky notes in the holder\n\u003c/PRED\u003e","video":"15461221562638349660.mp4"}
+{"uid":"4493893586210397969","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow highlighter 2- Move your arm close to the sticky note 3- Grab the sticky note 4- pick up the sticky notes 5- release the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: pick up the yellow highlighter\n\u003c/PRED\u003e","video":"15776568128786067869.mp4"}
+{"uid":"4208276473021141694","text":"\u003ctask:success:discrete:True\u003e\npick up the marker from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the marker from the table.\n\u003c/PRED\u003e","video":"4798596491846034707.mp4"}
+{"uid":"15261060069722289858","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the black 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":"110853053673173194.mp4"}
+{"uid":"10542244116110385358","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":"13507951874697295513.mp4"}
+{"uid":"15574380015692352597","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13577784780286246211.mp4"}
+{"uid":"4393741216133284610","text":"\u003ctask:success:discrete:False\u003e\nPick the black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick the black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: Pick the black pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the black pen 2- pick a pen from the table 3- Release the blue pen in the black holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the black pen\n\u003c/PRED\u003e","video":"15574403601676493584.mp4"}
+{"uid":"12397410989261335822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5991478046995827151.mp4"}
+{"uid":"18100001046906853299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4759742171848275107.mp4"}
+{"uid":"8745223911267568354","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the black pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the black pen 2- release the pen in the holder 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the black pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the black 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: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the black pen\n\u003c/PRED\u003e","video":"7003328967988992192.mp4"}
+{"uid":"8195145194425257164","text":"\u003ctask:success:discrete:True\u003e\nmove the black holder downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the black holder downwards\n\u003c/PRED\u003e","video":"11900435006466878936.mp4"}
+{"uid":"2598587570377917430","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: pick a pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick a pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen 2- Drop the pen into the holder 3- pick a pen from the table 4- Release the blue pen in the black holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a 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 a 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":"11627784540384323984.mp4"}
+{"uid":"17015382565764802543","text":"\u003ctask:success:discrete:False\u003e\npick a pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a 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: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen on the table 2- pick a pen from the table 3- Release the blue pen in the black holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e","video":"710464213717391504.mp4"}
+{"uid":"12499789444036338516","text":"\u003ctask:success:discrete:True\u003e\ndrop the sticky notes into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the sticky notes into the black holder\n\u003c/PRED\u003e","video":"13605934484254706025.mp4"}
+{"uid":"5082369129378875501","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm close to a black 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":"10434533801756022219.mp4"}
+{"uid":"11086771300443273382","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the black holder close to the pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the black holder close to the pens 2- Pick up the yellow highlighter 3- Release the yellow highlighter in the black holder 4- Move your arm close to the sticky note 5- Grab the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move the black holder close to the pens\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the black holder close to the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the black holder close to the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the black holder close to the pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the black holder close to the pens\n\u003c/PRED\u003e","video":"3028648578960261389.mp4"}
+{"uid":"8250961180655559482","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right pen from the table. 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right pen from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e","video":"5675235937427064389.mp4"}
+{"uid":"14972589375626628943","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- drop the pen into the black holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the black 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: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- drop the pen into the black holder 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 pen into the black holder\n\u003c/PRED\u003e","video":"16833583838442148344.mp4"}
+{"uid":"458856199096585492","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":"16071407164155066717.mp4"}
+{"uid":"11558872616446636493","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":"3409148753495154995.mp4"}
+{"uid":"11022409574059965241","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: move away from the pen.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the pen.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from 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:success:discrete:False\u003e\nmove away from 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the pen. 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move away from the pen.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the pen.\n\u003c/PRED\u003e","video":"10188768653685435077.mp4"}
+{"uid":"15539490138137012149","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":"1748803898443936055.mp4"}
+{"uid":"12615131044925960855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7089928585098792876.mp4"}
+{"uid":"8981780110964769339","text":"\u003ctask:success:discrete:True\u003e\npick up the right pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e","video":"14960393418038683109.mp4"}
+{"uid":"10902168977273080520","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15046380929885327011.mp4"}
+{"uid":"5194140075036191100","text":"\u003ctask:success:discrete:True\u003e\nrelease 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: release the pen in the holder\n\u003c/PRED\u003e","video":"2551108304313992110.mp4"}
+{"uid":"7614783033667821002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18022930299617624963.mp4"}
+{"uid":"11076786103263289208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13940098386236831307.mp4"}
+{"uid":"9938687648744871595","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the left holder 2- Pick a pen 3- pick a pen from the table 4- release the pen in the holder 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the left holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen in the left holder\n\u003c/PRED\u003e","video":"1588854811754963542.mp4"}
+{"uid":"17426397837941285053","text":"\u003ctask:success:discrete:True\u003e\nPick up the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e","video":"13877838093122202882.mp4"}
+{"uid":"17772356323734890171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a pen in right 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":"1303848615050539482.mp4"}
+{"uid":"17153677606569494914","text":"\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- pick up the sticky notes 3- release the sticky notes in the holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"7374762840354183421.mp4"}
+{"uid":"8057975021457774647","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: grab the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- grab the sticky notes 2- pick up the sticky notes 3- release the sticky notes in the holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab 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\ngrab 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: grab the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: grab the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the sticky notes\n\u003c/PRED\u003e","video":"4515774664399924661.mp4"}
+{"uid":"2703068948723525742","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- Pick up the pen 3- release the pen in the holder 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14139758515064961622.mp4"}
+{"uid":"11399653394577694086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in left 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":"13920000955159868421.mp4"}
+{"uid":"10028622588998888516","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the yellow marker 2- Release the yellow highlighter in the black holder 3- Move your arm close to the sticky note 4- Grab the sticky note 5- pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: grasp the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: grasp the yellow marker\n\u003c/PRED\u003e","video":"16777703637552832323.mp4"}
+{"uid":"18139917840563649424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16805213987586791194.mp4"}
+{"uid":"17040626579201346440","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the black 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 into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the black holder 2- Pick up the pen 3- release the pen in the holder 4- move back 5- done\n\u003c/PRED\u003e","video":"1499483041899523091.mp4"}
+{"uid":"13652734851843386206","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the yellow highlighter into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the yellow highlighter into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15804547290385064353.mp4"}
+{"uid":"10571162306050491901","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black 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: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black 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:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black pen 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e","video":"14539151260583413803.mp4"}
+{"uid":"11637519715071250847","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17838746030857401805.mp4"}
+{"uid":"1838870283131381460","text":"\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":"10238055677257799594.mp4"}
+{"uid":"3471719175446864552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 1 number object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7841844173251422524.mp4"}
+{"uid":"12729960158955563261","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the blue pen 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the blue 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: Move your arm close to the blue pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the blue pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the blue pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the blue pen\n\u003c/PRED\u003e","video":"17060246744623026173.mp4"}
+{"uid":"3855849735848313493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1770883481645743.mp4"}
+{"uid":"15069423996551184917","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2954403131457147202.mp4"}
+{"uid":"216011264020323482","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab a black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab a black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab a black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- Grab a black pen 2- release the pen in the holder 3- adjust the holder 4- Pick up the pen 5- release the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab a black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: immediate next step? \u003cPRED\u003eA: Grab a black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Grab a black pen\n\u003c/PRED\u003e","video":"6552924928469308253.mp4"}
+{"uid":"18432871487020102016","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: move the black holder to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the black holder to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move the black holder to the left 2- release the pen in the holder 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the black holder to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the black holder to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the black holder to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move the black holder to the left\n\u003c/PRED\u003e","video":"62299387974838074.mp4"}
+{"uid":"13719190892493415590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange spoons 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":"834098585620852929.mp4"}
+{"uid":"6278996522928582710","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":"8660965267224662126.mp4"}
+{"uid":"16619852616854875856","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9539285645039393431.mp4"}
+{"uid":"9914599629576955099","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen into the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9481278172523806623.mp4"}
+{"uid":"2669548813350965704","text":"\u003ctask:success:discrete:True\u003e\npick a pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e","video":"2022579899518811175.mp4"}
+{"uid":"2279649458201832778","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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\nadjust 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the holder 2- Pick a pen 3- pick a pen from the table 4- release the pen in the holder 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e","video":"18422872835168236763.mp4"}
+{"uid":"8645354882766085984","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13103461240910860518.mp4"}
+{"uid":"9428669797607869433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi ginger lemon 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":"2500163745053696895.mp4"}
+{"uid":"1073221436308934301","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the pen 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e","video":"6046872051417245284.mp4"}
+{"uid":"11273772925886693552","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the black holder 2- Pick a pen 3- pick a pen from the table 4- release the pen in the holder 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the black 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":"17218715417857616115.mp4"}
+{"uid":"5940491810986787796","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the black 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":"3793969283778684218.mp4"}
+{"uid":"464976618833467700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15026703256051690407.mp4"}
+{"uid":"15914607083384355739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver 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":"16954289249015841257.mp4"}
+{"uid":"7139828899678941095","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":"8159463270131794081.mp4"}
+{"uid":"17164274034961515922","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":"18029033972726845521.mp4"}
+{"uid":"8612610676649603017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11824257880367218853.mp4"}
+{"uid":"1775137015506024862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck the red 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":"11794578303953201907.mp4"}
+{"uid":"4666940398842068136","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e","video":"5437360473572118992.mp4"}
+{"uid":"17696337128751441481","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the holder 2- release the pen in the holder 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust 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: adjust the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e","video":"1230235874644299019.mp4"}
+{"uid":"7585511556896000684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9641243649791998403.mp4"}
+{"uid":"12551785254264650888","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the blue pen in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the blue pen in the black 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: Release the blue pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the blue pen in the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: Release the blue pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the blue pen in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the blue pen in the black holder 2- Move close to the pen 3- Pick a pen 4- pick a pen from the table 5- release the pen in the holder\n\u003c/PRED\u003e","video":"11494175730120036515.mp4"}
+{"uid":"8354645314744544265","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the right black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen in the right black 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":"876124989641237491.mp4"}
+{"uid":"8601917761606704537","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the right 2- pick up the sticky notes 3- release the sticky notes in the holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e","video":"14073694358202234120.mp4"}
+{"uid":"13099279206586110960","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- move the holder 2- Pick a pen 3- pick a pen from the table 4- release the pen in the holder 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: move the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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: move the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: move the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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":"7943662602940866451.mp4"}
+{"uid":"13183153476062881070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cardboard box left flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1679905836818036021.mp4"}
+{"uid":"11867886189012318332","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to 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":"17050201648187401904.mp4"}
+{"uid":"3242606369729524814","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen from the table 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e","video":"11828858938736471898.mp4"}
+{"uid":"2297351709787956849","text":"\u003ctask:success:discrete:True\u003e\ngrasp the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the yellow marker\n\u003c/PRED\u003e","video":"7081172872689428237.mp4"}
+{"uid":"1687502340960612292","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the black holder to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the black holder to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7580424814556397950.mp4"}
+{"uid":"14714137169599070365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15694475611476010288.mp4"}
+{"uid":"8079025125688396341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the purple 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":"7799544200163862355.mp4"}
+{"uid":"10577700691204172000","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":"8049458990628205899.mp4"}
+{"uid":"17495720316538622706","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the black holder close to the pens\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the black holder close to the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8712393679575142555.mp4"}
+{"uid":"210619793685599962","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes\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: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky notes 2- Move close to the pen 3- Pick a pen 4- Drop the pen into the holder 5- pick a pen from the table\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","video":"15404699676873609041.mp4"}
+{"uid":"11763680365371912087","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8431938349393065368.mp4"}
+{"uid":"3050178800891618434","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- release the pen in the holder 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease 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: release the pen in the holder\n\u003c/PRED\u003e","video":"9650000017037105861.mp4"}
+{"uid":"243703894580895736","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8779829642356280887.mp4"}
+{"uid":"15506190065259996395","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow marker into the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow marker into the black holder 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow marker into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow marker into the black 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 yellow marker into the black holder\n\u003c/PRED\u003e","video":"3578456784182332821.mp4"}
+{"uid":"2524163435373043230","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab 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: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the sticky note 2- pick up the sticky notes 3- release the sticky notes in the holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e","video":"7989150346365879768.mp4"}
+{"uid":"11574576469159952286","text":"\u003ctask:success:discrete:True\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"5946483535507249066.mp4"}
+{"uid":"1693193243517716347","text":"\u003ctask:success:discrete:False\u003e\npick the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the table 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e","video":"9248116692804557191.mp4"}
+{"uid":"14302723056579747824","text":"\u003ctask:success:discrete:True\u003e\nRelease the yellow highlighter in the black 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: Release the yellow highlighter in the black holder\n\u003c/PRED\u003e","video":"5331869939308853687.mp4"}
+{"uid":"3224114645084994599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2483398747284346584.mp4"}
+{"uid":"9385835550102695284","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen on the table 2- adjust the holder 3- Pick up the pen 4- release the pen in the holder 5- move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e","video":"9864298101344426294.mp4"}
+{"uid":"10965859429100863395","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the pen 2- Drop the pen into the holder 3- pick a pen from the table 4- Release the blue pen in the black holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to 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","video":"13658964324343118417.mp4"}
+{"uid":"13884017448647112154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17007386355149169949.mp4"}
+{"uid":"8713153866927378498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black  pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11604200957167218469.mp4"}
+{"uid":"17395699240372099057","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2960052996604944087.mp4"}
+{"uid":"11216876240569509226","text":"\u003ctask:success:discrete:True\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e","video":"7351344387849079155.mp4"}
+{"uid":"13255282027982594696","text":"\u003ctask:success:discrete:True\u003e\nrelease 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: release the pen in the holder\n\u003c/PRED\u003e","video":"10211131902055652565.mp4"}
+{"uid":"13500909954539664258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the box in cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6806331077455164353.mp4"}
+{"uid":"11235777338343912243","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen Q: immediate next step? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the black pen in the holder\n\u003c/PRED\u003e","video":"3731568026125262679.mp4"}
+{"uid":"5907493100974053686","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the sticky note in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the sticky note in the black 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: Release the sticky note in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Release the sticky note in the black holder 2- Move close to the pen 3- Pick a pen 4- Drop the pen into the holder 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the sticky note in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: Release the sticky note in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the sticky note in the black 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":"8233843641821420333.mp4"}
+{"uid":"17181727189969741226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a paper on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6157348053723840389.mp4"}
+{"uid":"18271952450113369439","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes in the right black holder.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes in the right black holder. 2- Pick a pen 3- Drop the pen into the holder 4- pick a pen from the table 5- Release the blue pen in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note Q: immediate next step? \u003cPRED\u003eA: place the sticky notes in the right black holder.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes in the right black holder.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: place the sticky notes in the right black holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes in the right black holder. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes in the right black 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":"6224936654100117098.mp4"}
+{"uid":"14578531197196874883","text":"\u003ctask:success:discrete:False\u003e\nMove the black holder close to the plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the black holder close to the plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Move the black holder close to the plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the black holder close to the plant 2- Pick a pen 3- pick a pen from the table 4- release the pen in the holder 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the black holder close to the plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move the black holder close to the plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the black holder close to the plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4159981810217308483.mp4"}
+{"uid":"13489176897235695980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7382206671352335742.mp4"}
+{"uid":"6883926290054608906","text":"\u003ctask:success:discrete:True\u003e\nRelease the blue pen in the black 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: Release the blue pen in the black holder\n\u003c/PRED\u003e","video":"5544172663765905450.mp4"}
+{"uid":"9229588738432174938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17122663101570086246.mp4"}
+{"uid":"6935975253181911721","text":"\u003ctask:success:discrete:False\u003e\nGrab the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the black holder 2- Pick up the yellow highlighter 3- Release the yellow highlighter in the black holder 4- Move your arm close to the sticky note 5- Grab the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Grab the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the black holder\n\u003c/PRED\u003e","video":"3457421067313934336.mp4"}
+{"uid":"11904722518657886067","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sticky note into the holder 2- Move close to the pen 3- Pick a pen 4- Drop the pen into the holder 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sticky note into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sticky note into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the sticky note into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14749658941080021440.mp4"}
+{"uid":"3058624388445327986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop bowl 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":"5283132786395411829.mp4"}
+{"uid":"8758555245926810725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet into the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5715671912688410817.mp4"}
+{"uid":"6890295663075238488","text":"\u003ctask:success:discrete:True\u003e\npick a 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 a pen\n\u003c/PRED\u003e","video":"14240314463945301711.mp4"}
+{"uid":"500551510082390438","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table. 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6686271218029761260.mp4"}
+{"uid":"9343659523406924469","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"11617999070940250346.mp4"}
+{"uid":"15509751982162152395","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen from the table 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e","video":"175937513064721190.mp4"}
+{"uid":"16225355258402954900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the holder 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":"1732677818165723829.mp4"}
+{"uid":"6324634183384411035","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky notes from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky notes from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky notes from the table. 2- release the sticky notes in the holder 3- Move close to the pen 4- Pick a pen 5- Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sticky notes from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky notes from the table.\n\u003c/PRED\u003e","video":"6329155386129853562.mp4"}
+{"uid":"1243757641805029676","text":"\u003ctask:success:discrete:True\u003e\ngo to the black 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: go to the black holder\n\u003c/PRED\u003e","video":"18136545810953464724.mp4"}
+{"uid":"2163006759658644632","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the left black holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the left black 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":"12068405148596126669.mp4"}
+{"uid":"766789947494745503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cylinder shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14046533178061555843.mp4"}
+{"uid":"2208760063991170223","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the black holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the black 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 into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the black 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":"3209069722200298505.mp4"}
+{"uid":"9157066157212463417","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab 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:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the sticky note 2- release the sticky notes in the holder 3- Move close to the pen 4- Pick a pen 5- Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab 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: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e","video":"14152346301874823316.mp4"}
+{"uid":"14070868300322118247","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab 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":"2660010301433709456.mp4"}
+{"uid":"7588012179720178012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12214509497648336072.mp4"}
+{"uid":"3761406746157418748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRemove the brown paper cup from the oven Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3806207213459268670.mp4"}
+{"uid":"16310567180094597144","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a 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 a pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pen 2- pick a pen from the table 3- release the pen in the holder 4- adjust the holder 5- Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a 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":"8561196556098380262.mp4"}
+{"uid":"1073850177587109878","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker in the left black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the marker in the left black 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":"191793775991060880.mp4"}
+{"uid":"5522116177228571217","text":"\u003ctask:success:discrete:False\u003e\nrelease 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: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- release the pen in the holder 2- adjust the holder 3- Pick up the pen 4- release the pen in the holder 5- move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e","video":"13121027373280494570.mp4"}
+{"uid":"14140835677729710113","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab 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":"7512709896950491289.mp4"}
+{"uid":"18165191715550545900","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- drop the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder 19- Pick up the pen 20- drop the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4517634406923486499.mp4"}
+{"uid":"15573494947700644857","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen into the holder 2- Release the blue pen in the black holder 3- Move close to the pen 4- Pick a pen 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4750091053357194071.mp4"}
+{"uid":"16368997614445764736","text":"\u003ctask:success:discrete:True\u003e\nRelease the sticky note in the black 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: Release the sticky note in the black holder\n\u003c/PRED\u003e","video":"1908286038775363926.mp4"}
+{"uid":"6894196017344557687","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow highlighter 2- Move your arm close to the sticky note 3- Grab the sticky note 4- pick up the sticky notes 5- release the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow highlighter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17953988815719011688.mp4"}
+{"uid":"196290683198399386","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13620600263801006112.mp4"}
+{"uid":"4493718170604118863","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky notes into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sticky notes into the black 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 sticky notes into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky notes into the black holder 2- Pick a pen 3- Drop the pen into the holder 4- pick a pen from the table 5- Release the blue pen in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky notes into the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes into the black holder\n\u003c/PRED\u003e","video":"9996956901162087736.mp4"}
+{"uid":"9246220727838187197","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":"4696868257238787380.mp4"}
+{"uid":"11775765326506364334","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11653535833418751102.mp4"}
+{"uid":"6102875830158318456","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":"10451597387392756248.mp4"}
+{"uid":"6479308342119007991","text":"\u003ctask:success:discrete:False\u003e\nRelease the black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black holder 2- Pick up the yellow highlighter 3- Release the yellow highlighter in the black holder 4- Move your arm close to the sticky note 5- Grab the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Release the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black 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: Release the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: immediate next step? \u003cPRED\u003eA: Release the black holder\n\u003c/PRED\u003e","video":"11132892076985055260.mp4"}
+{"uid":"7349459443012886038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15043937546199193620.mp4"}
+{"uid":"8515817357654658585","text":"\u003ctask:success:discrete:True\u003e\ngrasp the black 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: grasp the black holder\n\u003c/PRED\u003e","video":"8037346518364020739.mp4"}
+{"uid":"14470144519895838154","text":"\u003ctask:success:discrete:True\u003e\npick the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow highlighter\n\u003c/PRED\u003e","video":"8885472742579964082.mp4"}
+{"uid":"1623121661570145642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14909431824586149050.mp4"}
+{"uid":"9499970020491653522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fruit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14989183712803932319.mp4"}
+{"uid":"10311204400622408054","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky notes 2- release the sticky notes in the holder 3- Move close to the pen 4- Pick a pen 5- Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e","video":"9531332526419186493.mp4"}
+{"uid":"3545406945449233922","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky notes in the right black holder.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticky notes in the right black 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":"15506117018766053063.mp4"}
+{"uid":"11954981422284432551","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: immediate next step? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to 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: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the sticky note 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to 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","video":"2627805410466311171.mp4"}
+{"uid":"6207014769571091875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"9421266775673955551.mp4"}
+{"uid":"14895334064712444881","text":"\u003ctask:success:discrete:True\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"16701517594323692872.mp4"}
+{"uid":"5879890032268509737","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17125551826403944683.mp4"}
+{"uid":"13939292498417628907","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":"768152579079610899.mp4"}
+{"uid":"16386244541759818607","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black pen 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black 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:success:discrete:False\u003e\nPick up the black 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","video":"16148472745268625880.mp4"}
+{"uid":"1010827527069973529","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to a black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to a black pen 2- release the pen in the holder 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to a black 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","video":"7180631482385802190.mp4"}
+{"uid":"4281573334474745153","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow highlighter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow highlighter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick the yellow highlighter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow highlighter 2- Release the yellow highlighter in the black holder 3- Move your arm close to the sticky note 4- Grab the sticky note 5- pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder Q: immediate next step? \u003cPRED\u003eA: pick the yellow highlighter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3999875250753673709.mp4"}
+{"uid":"857782627126122674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17524009692392135661.mp4"}
+{"uid":"7527266514337451047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12731773605621379992.mp4"}
+{"uid":"7337403109065821072","text":"\u003ctask:success:discrete:False\u003e\nrelease the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- release the pen in the holder 2- pick a pen from the table 3- Release the blue pen in the black holder 4- Move close to the pen 5- Pick a pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e","video":"3350535384198358886.mp4"}
+{"uid":"17833510373888383419","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen in the right black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: drop the pen in the right black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the right black 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 right black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the right black 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen in the right black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the right black holder 2- release the pen in the holder 3- adjust the holder 4- Pick up the pen 5- release the pen in the holder\n\u003c/PRED\u003e","video":"9478967198760151705.mp4"}
+{"uid":"18353104637065179554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab 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":"5962758870559245837.mp4"}
+{"uid":"3795829152973575868","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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 organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen on the table 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder 18- adjust the holder Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e","video":"5728665059933028351.mp4"}
+{"uid":"18444546127672465409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narranging sweet corn packet in a straight way Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11613579077111768965.mp4"}
+{"uid":"12353584931936872819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the black pen in the black 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":"1943792048511152856.mp4"}
+{"uid":"1480061091623461645","text":"\u003ctask:success:discrete:True\u003e\nadjust 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: adjust the holder\n\u003c/PRED\u003e","video":"14877798465854603432.mp4"}
+{"uid":"14600144375180392646","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Grab the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Grab the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab 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: Grab the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab 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 organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen 16- pick a pen from the table 17- release the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the holder 2- release the pen in the holder 3- move back 4- done\n\u003c/PRED\u003e","video":"6815205490277269531.mp4"}
+{"uid":"11821067583373495874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3381417045419279793.mp4"}
+{"uid":"5829299012499426250","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right pen from the table. 2- Drop the pen into the holder 3- pick a pen from the table 4- Release the blue pen in the black holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right pen from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right pen from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: pick up the right pen from the table.\n\u003c/PRED\u003e","video":"4123911045946409279.mp4"}
+{"uid":"6044240267969390867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16009461919748651537.mp4"}
+{"uid":"13407313735358679282","text":"\u003ctask:success:discrete:True\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e","video":"5371765467878765432.mp4"}
+{"uid":"2818893716350541685","text":"\u003ctask:success:discrete:False\u003e\nMove your arm close to a black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to a black 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: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to a black pen 2- Pick a pen 3- pick a pen from the table 4- release the pen in the holder 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Move your arm close to a black pen\n\u003c/PRED\u003e","video":"16368074638660494112.mp4"}
+{"uid":"13739202474816810450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple on the brown table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15804715712703637435.mp4"}
+{"uid":"5297326938936779345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace trash in 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":"1502763056498125481.mp4"}
+{"uid":"17636080243340043339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2084266875639146441.mp4"}
+{"uid":"2096189495799166148","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":"12968375367073821158.mp4"}
+{"uid":"3878793492277000664","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease 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\nrelease the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- release the pen in the holder 2- Pick a pen 3- pick a pen from the table 4- release the pen in the holder 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the pen in the holder\n\u003c/PRED\u003e","video":"5519591240985759031.mp4"}
+{"uid":"11760102096129691328","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter 4- Release the yellow highlighter in the black holder 5- Move your arm close to the sticky note 6- Grab the sticky note 7- pick up the sticky notes 8- release the sticky notes in the holder 9- Move close to the pen 10- Pick a pen 11- Drop the pen into the holder 12- pick a pen from the table 13- Release the blue pen in the black holder 14- Move close to the pen 15- Pick a pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen into the holder 2- Pick up the pen 3- release the pen in the holder 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e","video":"3084200487269861283.mp4"}
+{"uid":"10480780204289458737","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the sticky note 2- Grab the sticky note 3- pick up the sticky notes 4- release the sticky notes in the holder 5- Move close to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please organize the pens and sticky notes into the black mesh desk organizer. last 20 steps: 1- Grab the holder 2- Move close to the yellow highlighter 3- Pick up the yellow highlighter Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to 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:success:discrete:False\u003e\nMove your arm close to 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: Move your arm close to the sticky note\n\u003c/PRED\u003e","video":"11986802168943573668.mp4"}
+{"uid":"17750021051709896832","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick a pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick a 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":"5689352767601176718.mp4"}