diff --git "a/json/train/data-00043-of-00160.json" "b/json/train/data-00043-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00043-of-00160.json"
@@ -0,0 +1,1458 @@
+{"uid":"4310531457258605196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a nut in right coffee 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":"1395613866051102549.mp4"}
+{"uid":"1738683066603039603","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":"10593038929881670826.mp4"}
+{"uid":"13833757968173277635","text":"\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"9512353190443663289.mp4"}
+{"uid":"12027204211927960598","text":"\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"8166464654746704003.mp4"}
+{"uid":"8677144796679030678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the clip in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14694039768834721046.mp4"}
+{"uid":"16014725202223019819","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"17212610464570238136.mp4"}
+{"uid":"9771486847936416712","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8787462951510057591.mp4"}
+{"uid":"665510791936460889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"630816682651349546.mp4"}
+{"uid":"12007030162846445509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy 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":"16214717800862142078.mp4"}
+{"uid":"3473042330046404913","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"7600243268009085612.mp4"}
+{"uid":"18221523620183330041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15731502620340777384.mp4"}
+{"uid":"1893519159035221314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear 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":"189235573183401611.mp4"}
+{"uid":"11759964767121642749","text":"\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"5901020561866399791.mp4"}
+{"uid":"9836991645715395362","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6203293230340589442.mp4"}
+{"uid":"11362958395838676148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4553409171173257996.mp4"}
+{"uid":"15455528631777252847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cloth 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":"9589740938942855678.mp4"}
+{"uid":"7992260724774253108","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"16514410285071022255.mp4"}
+{"uid":"8721164457870498413","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"1281836877713339052.mp4"}
+{"uid":"7563253414924552183","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand 7- put caps in the stand 8- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand 7- put caps in the stand 8- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10631842166828677569.mp4"}
+{"uid":"1945064005300904721","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand 7- put caps in the stand 8- put caps in the stand 9- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand 7- put caps in the stand 8- put caps in the stand 9- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9455394183712932402.mp4"}
+{"uid":"5751910250797139797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand 7- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- put caps in the stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand 7- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"4576405256419013066.mp4"}
+{"uid":"6537672857742882551","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand 6- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"17948697341570300895.mp4"}
+{"uid":"17332174519565629938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14077326677532041418.mp4"}
+{"uid":"809603848245930166","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the spinning rack with lids Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand Q: immediate next step? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput caps in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the spinning rack with lids. last 20 steps: 1- put caps in the stand 2- put caps in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put caps in the stand 2- put caps in the stand 3- put caps in the stand 4- put caps in the stand 5- put caps in the stand\n\u003c/PRED\u003e","video":"9631180058357445276.mp4"}
+{"uid":"15907380757915901609","text":"\u003ctask:success:discrete:True\u003e\nput caps in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put caps in the stand\n\u003c/PRED\u003e","video":"2508112166118984576.mp4"}
+{"uid":"6763615618609126969","text":"\u003ctask:success:discrete:False\u003e\nDrop packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e","video":"8974970080277680564.mp4"}
+{"uid":"11106031803527215766","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":"8471215414672260036.mp4"}
+{"uid":"11694620293660409506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13325275732084595749.mp4"}
+{"uid":"17958237831091294436","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up sanitizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up sanitizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2383800889838040092.mp4"}
+{"uid":"2266392627539850593","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- done\n\u003c/PRED\u003e","video":"10540141058252600415.mp4"}
+{"uid":"18182579571212709476","text":"\u003ctask:success:discrete:False\u003e\nput the crumpled paper in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the crumpled paper in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the crumpled paper in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: immediate next step? \u003cPRED\u003eA: put the crumpled paper in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the crumpled paper in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the crumpled paper in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the crumpled paper in the bin 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e","video":"8128630563019101680.mp4"}
+{"uid":"3761975201355180134","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop packet into jar 3- Drop packet into jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e","video":"18206348754337163038.mp4"}
+{"uid":"1269303916530172908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8428000477261866859.mp4"}
+{"uid":"14042422587430386084","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":"16275935970569905174.mp4"}
+{"uid":"7685725056445862912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9207914281078353492.mp4"}
+{"uid":"6115372523508443641","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop white box in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop white box in dustbin 2- pick up sanitizer 3- put sanitizer on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room Q: immediate next step? \u003cPRED\u003eA: drop white box in dustbin\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop white box in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop white box in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room Q: immediate next step? \u003cPRED\u003eA: drop white box in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop white box in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13229241571413300511.mp4"}
+{"uid":"2261275359196530556","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue packet in the jar 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15935601517042862466.mp4"}
+{"uid":"8306058645800786751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9124153643139021714.mp4"}
+{"uid":"14424119381120599193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"669915363400947769.mp4"}
+{"uid":"11918092472660780934","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sanitizer on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sanitizer on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sanitizer on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sanitizer on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room 4- drop white box in dustbin 5- pick up sanitizer Q: next 5 steps? \u003cPRED\u003eA: 1- put sanitizer on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room 4- drop white box in dustbin 5- pick up sanitizer Q: immediate next step? \u003cPRED\u003eA: put sanitizer on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room Q: immediate next step? \u003cPRED\u003eA: put sanitizer on table\n\u003c/PRED\u003e","video":"16614236896425834438.mp4"}
+{"uid":"7126093821930882457","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"16247644047510687159.mp4"}
+{"uid":"4868628617062631093","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop cup into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash Q: next 5 steps? \u003cPRED\u003eA: 1- Drop cup into dustbin 2- Drop crushed paper into dustbin 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash Q: immediate next step? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e","video":"3627670605059299858.mp4"}
+{"uid":"13340514605612841871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9314839539135750405.mp4"}
+{"uid":"9834732178255788944","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11093016932564743539.mp4"}
+{"uid":"3637963075851706126","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9797844925142023509.mp4"}
+{"uid":"9284121075115339064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1799129963340109493.mp4"}
+{"uid":"10162868062788717464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the snack packet in the white 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":"16199448785686386721.mp4"}
+{"uid":"274268183009294274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bean 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":"3137812004409891428.mp4"}
+{"uid":"2433102893739491886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two Chocolates in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7203243457387714900.mp4"}
+{"uid":"1769893966952242943","text":"\u003ctask:success:discrete:True\u003e\nput the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e","video":"5728282564135170695.mp4"}
+{"uid":"3112299880608166465","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow paper glass in trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10098511758237375246.mp4"}
+{"uid":"12145371810208002466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16033163222393624450.mp4"}
+{"uid":"12810731294244685604","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1756905547385329396.mp4"}
+{"uid":"9016542838118626606","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- done\n\u003c/PRED\u003e","video":"16491218467760520926.mp4"}
+{"uid":"17142365553290930110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife 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":"10859393878105307215.mp4"}
+{"uid":"813957758862900316","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash Q: immediate next step? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup in the bin 2- Drop crushed paper into dustbin 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e","video":"16589410821195884126.mp4"}
+{"uid":"13305582476614906416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut chocolate  in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15321580737645920887.mp4"}
+{"uid":"3527824507701072217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green fruit in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13669845508826707809.mp4"}
+{"uid":"17159224302069134163","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room Q: immediate next step? \u003cPRED\u003eA: put tissue on white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on white box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on white box 2- pick up white box 3- leave the room 4- drop white box in dustbin 5- pick up sanitizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put tissue on white box\n\u003c/PRED\u003e","video":"12820279490532275291.mp4"}
+{"uid":"3300410083205783380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white 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":"5914651188755884562.mp4"}
+{"uid":"17991075923504963527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cap from the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4626325224603142897.mp4"}
+{"uid":"3825355811213014436","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop packet into jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e","video":"15851682149528922458.mp4"}
+{"uid":"1205605716405876383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue paper in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9120264009977763310.mp4"}
+{"uid":"4156953616684545831","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar 8- Put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar 8- Put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e","video":"8273486994480089451.mp4"}
+{"uid":"6599865908260959755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the turkey stick on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18221428970539723445.mp4"}
+{"uid":"7903767147620514906","text":"\u003ctask:success:discrete:True\u003e\nDrop crushed paper into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop crushed paper into dustbin\n\u003c/PRED\u003e","video":"18034155957228089366.mp4"}
+{"uid":"2166198458718401641","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- Drop packet into jar 3- Drop packet into jar 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e","video":"840517899668715026.mp4"}
+{"uid":"161837205862147055","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- Drop packet into jar 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e","video":"7521199255399695276.mp4"}
+{"uid":"8996773279935723645","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar 8- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar 8- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9560762306681912672.mp4"}
+{"uid":"12086448705020686801","text":"\u003ctask:success:discrete:True\u003e\nDrop cup into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e","video":"1866037905526577214.mp4"}
+{"uid":"6623033193956242291","text":"\u003ctask:success:discrete:False\u003e\nThrow paper glass in trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow paper glass in trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e","video":"1546975211860068391.mp4"}
+{"uid":"16938949698424945995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2829762867948659539.mp4"}
+{"uid":"5107499134199997077","text":"\u003ctask:success:discrete:True\u003e\nput the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e","video":"11239175013500212209.mp4"}
+{"uid":"14930919321442884135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13736933038788060689.mp4"}
+{"uid":"5504667194658752482","text":"\u003ctask:success:discrete:True\u003e\nDrop packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e","video":"13596328205365132232.mp4"}
+{"uid":"10419162840372399152","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup in the bin 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup in the bin\n\u003c/PRED\u003e","video":"16674214662564186202.mp4"}
+{"uid":"17457066063401399807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in middle 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":"15066612360104170408.mp4"}
+{"uid":"15027780068351829610","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop cup into dustbin 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop cup into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop cup into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9901797596649881832.mp4"}
+{"uid":"2411245243283134788","text":"\u003ctask:success:discrete:True\u003e\ndrop white box in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop white box in dustbin\n\u003c/PRED\u003e","video":"1127764482244672456.mp4"}
+{"uid":"3661039004111852264","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: immediate next step? \u003cPRED\u003eA: Throw crushed paper in trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Throw crushed paper in trash 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow crushed paper in trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Throw crushed paper in trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow crushed paper in trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw crushed paper in trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Throw crushed paper in trash\n\u003c/PRED\u003e","video":"6076614404007081968.mp4"}
+{"uid":"13361547839629741054","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e","video":"1450645995880386677.mp4"}
+{"uid":"8184211118117029273","text":"\u003ctask:success:discrete:True\u003e\nDrop packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e","video":"9599062186054918673.mp4"}
+{"uid":"12713141168682635818","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- Drop packet into jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"1152873416240967876.mp4"}
+{"uid":"11791411366069765409","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- Drop packet into jar 3- Drop packet into jar 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"6175168436360466138.mp4"}
+{"uid":"12218726903176972070","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"18093067372255682950.mp4"}
+{"uid":"10932726350310963676","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10000751845050520125.mp4"}
+{"uid":"3714966129878272623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the white bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2874756673410055342.mp4"}
+{"uid":"1327251436575563965","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar 8- put the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar 8- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15500011337623518674.mp4"}
+{"uid":"5850370732448616478","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room Q: immediate next step? \u003cPRED\u003eA: pick up sanitizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up sanitizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room 4- drop white box in dustbin Q: immediate next step? \u003cPRED\u003eA: pick up sanitizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up sanitizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up sanitizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sanitizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room 4- drop white box in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up sanitizer 2- put sanitizer on table 3- done\n\u003c/PRED\u003e","video":"9603950234250351760.mp4"}
+{"uid":"2475094909349859506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the chair 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":"10542585316875709515.mp4"}
+{"uid":"5503881487854266928","text":"\u003ctask:success:discrete:False\u003e\nPut white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e","video":"14805507830186637602.mp4"}
+{"uid":"5422476880266306021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17590343014358562315.mp4"}
+{"uid":"168196532972365848","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- drop white box in dustbin 3- pick up sanitizer 4- put sanitizer on table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12972848338146812629.mp4"}
+{"uid":"8394763666884019267","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the crumpled paper in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the crumpled paper in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1256554612463609336.mp4"}
+{"uid":"7115100518632783029","text":"\u003ctask:success:discrete:True\u003e\nDrop packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e","video":"5106487440122892080.mp4"}
+{"uid":"746322338614053886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass on stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8068389503095312119.mp4"}
+{"uid":"15840235494170347425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow paper glass in trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9846822356605675299.mp4"}
+{"uid":"10105755058112935817","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw crushed paper in trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow crushed paper in trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3874135237371613120.mp4"}
+{"uid":"6052037634672000961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl under the cereal dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7252822350862849737.mp4"}
+{"uid":"5946895202539794674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"4082252979939365148.mp4"}
+{"uid":"9894027291415661319","text":"\u003ctask:success:discrete:True\u003e\nPut white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e","video":"18056300464127053541.mp4"}
+{"uid":"430256332683512092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8809734615732131401.mp4"}
+{"uid":"14773421217516810399","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up white box 2- leave the room 3- drop white box in dustbin 4- pick up sanitizer 5- put sanitizer on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box Q: immediate next step? \u003cPRED\u003eA: pick up white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room Q: immediate next step? \u003cPRED\u003eA: pick up white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up white box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up white box\n\u003c/PRED\u003e","video":"8722441486489844872.mp4"}
+{"uid":"11906999025875430122","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14115190624888062489.mp4"}
+{"uid":"15432631361887264645","text":"\u003ctask:success:discrete:True\u003e\nDrop cup into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop cup into dustbin\n\u003c/PRED\u003e","video":"13630606915442394431.mp4"}
+{"uid":"7232926797197034227","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room 4- drop white box in dustbin 5- pick up sanitizer 6- put sanitizer on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room. last 20 steps: 1- put tissue on white box 2- pick up white box 3- leave the room 4- drop white box in dustbin 5- pick up sanitizer 6- put sanitizer on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput sanitizer on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sanitizer on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done eating my food can you throw away the food container and while coming back can you bring me sanitizer from printer room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7661566645321382458.mp4"}
+{"uid":"17117381760666454148","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop crushed paper into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop crushed paper into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop crushed paper into dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: immediate next step? \u003cPRED\u003eA: Drop crushed paper into dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop crushed paper into dustbin 2- Drop packet into jar 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Drop crushed paper into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop crushed paper into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8105450558434580533.mp4"}
+{"uid":"5262562347772317652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7570944428365866590.mp4"}
+{"uid":"16445094628467951490","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash 2- Drop cup into dustbin 3- Drop crushed paper into dustbin 4- Drop packet into jar 5- Drop packet into jar 6- Drop packet into jar 7- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- done\n\u003c/PRED\u003e","video":"7230173518566141037.mp4"}
+{"uid":"438282095393022426","text":"\u003ctask:success:discrete:False\u003e\nThrow paper glass in trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash Q: immediate next step? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow paper glass in trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Throw paper glass in trash Q: next 5 steps? \u003cPRED\u003eA: 1- Throw paper glass in trash 2- Drop crushed paper into dustbin 3- Drop packet into jar 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw paper glass in trash\n\u003c/PRED\u003e","video":"11367127906196649398.mp4"}
+{"uid":"12866599900459674189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"16448341072429240452.mp4"}
+{"uid":"16612159370155618115","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet on the table 2- put a packet on the table 3- put a packet on the table 4- Place the blue packet on the table 5- put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9114656759448965963.mp4"}
+{"uid":"445676713705115584","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":"2388547050838907273.mp4"}
+{"uid":"18022653140491417391","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- Place the blue packet on the table 3- put a packet on the table 4- put a packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e","video":"9947877283004166279.mp4"}
+{"uid":"526717916464329046","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9086562770099685563.mp4"}
+{"uid":"13907251876702180954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15005768681869535177.mp4"}
+{"uid":"4144974610160884706","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the popcorn on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn 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: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put the popcorn on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn on the table\n\u003c/PRED\u003e","video":"2635974612089361681.mp4"}
+{"uid":"6236177650370682808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- put a packet on the table 3- Place the blue packet on the table 4- put a packet on the table 5- put a packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e","video":"18355919688522566819.mp4"}
+{"uid":"9975309049916313220","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- put a packet on the table 3- put a packet on the table 4- Place the blue packet on the table 5- put a packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e","video":"5684016064656017645.mp4"}
+{"uid":"1916595192143815055","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet on the table 2- put a packet on the table 3- Place the blue packet on the table 4- put a packet on the table 5- put a packet on the table\n\u003c/PRED\u003e","video":"9605396083087404870.mp4"}
+{"uid":"10359361419689547056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the big 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":"8929033876380746959.mp4"}
+{"uid":"9941911166434712151","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4411366093053300629.mp4"}
+{"uid":"518877669918343884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8450791053494776599.mp4"}
+{"uid":"4975488621196617697","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":"11212103950441519268.mp4"}
+{"uid":"3726052295263015412","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet on the table 2- put a packet on the table 3- put a packet on the table 4- Place the blue packet on the table 5- put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4235078001054316657.mp4"}
+{"uid":"9553340395816966042","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- put a packet on the table 3- put a packet on the table 4- put a packet on the table 5- Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e","video":"15424242491172127797.mp4"}
+{"uid":"8247800088930884404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in 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":"16410984912164758211.mp4"}
+{"uid":"9366718288212620236","text":"\u003ctask:success:discrete:True\u003e\nput the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table 8- put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table 8- put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e","video":"1705956508282202368.mp4"}
+{"uid":"2678270683552194565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9349728728825666949.mp4"}
+{"uid":"6335831417017349057","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet on the table 2- Place the blue packet on the table 3- put a packet on the table 4- put a packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e","video":"15276271409188170517.mp4"}
+{"uid":"13031246322148115193","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":"10402067094112450709.mp4"}
+{"uid":"10675124136659309142","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet on the table 2- put a packet on the table 3- put a packet on the table 4- done\n\u003c/PRED\u003e","video":"7524931318023857628.mp4"}
+{"uid":"9025819327321252179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"11406026407241535370.mp4"}
+{"uid":"618900314364597537","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9263856765709826794.mp4"}
+{"uid":"10840041595911941392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15531179943991416258.mp4"}
+{"uid":"3549509207776581893","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- done\n\u003c/PRED\u003e","video":"12159898967328693354.mp4"}
+{"uid":"11311609168368780936","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn bag on the table 2- put a packet on the table 3- put a packet on the table 4- Place the blue packet on the table 5- put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn bag 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: pick all the chips from the box. last 20 steps: 1- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e","video":"15241720367799586692.mp4"}
+{"uid":"13835859486362888531","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e","video":"9532513501520062764.mp4"}
+{"uid":"10226454512567080446","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e","video":"14391881413741779543.mp4"}
+{"uid":"7215245436042957330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6468306558295806373.mp4"}
+{"uid":"6606827062297830861","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet on the table 2- put a packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8225974486544600062.mp4"}
+{"uid":"9546634895444690086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6921693044606752981.mp4"}
+{"uid":"9171248778321278640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9446723536669670673.mp4"}
+{"uid":"3808240246681712899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the big binder clip 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":"14312793869990912155.mp4"}
+{"uid":"16399791537962688513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7024617949824067189.mp4"}
+{"uid":"6663868241948640848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"5199690557095518012.mp4"}
+{"uid":"3675179231508904935","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"134739305335552936.mp4"}
+{"uid":"15884592082527873961","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn bag on the table 2- put a packet on the table 3- put a packet on the table 4- Place the blue packet on the table 5- put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn bag 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":"5201337861293670773.mp4"}
+{"uid":"5937400738482544759","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"276001129336606051.mp4"}
+{"uid":"5316871717242512012","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- done\n\u003c/PRED\u003e","video":"2642191248632454850.mp4"}
+{"uid":"9752983147311502112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper cups into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4482599526878567263.mp4"}
+{"uid":"3306501384261197833","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put the pop corn bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pop corn bag 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: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put the pop corn bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pop corn bag on the table 2- Place the blue packet on the table 3- put a packet on the table 4- put a packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pop corn bag on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pop corn bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pop corn bag 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":"9126444801616038860.mp4"}
+{"uid":"104074527317685287","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":"12791252546934268388.mp4"}
+{"uid":"18368656084548164744","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- put a packet on the table 3- put a packet on the table 4- done\n\u003c/PRED\u003e","video":"7528949166391499177.mp4"}
+{"uid":"12631447020537928448","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet on the table 2- put a packet on the table 3- put a packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e","video":"6454796443862021679.mp4"}
+{"uid":"11033236220072829294","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11980582502247894240.mp4"}
+{"uid":"5208693892963376849","text":"\u003ctask:success:discrete:True\u003e\nPlace the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown packet on the table\n\u003c/PRED\u003e","video":"15098303461073444270.mp4"}
+{"uid":"13756412583563092849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8569325163473240888.mp4"}
+{"uid":"14084883986865065733","text":"\u003ctask:success:discrete:True\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick all the chips from the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick all the chips from the box. last 20 steps: 1- put a packet on the table 2- Place the brown packet on the table 3- put a packet on the table 4- put a packet on the table 5- put a packet on the table 6- Place the blue packet on the table 7- put a packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10751672649298172644.mp4"}
+{"uid":"16078601591195054349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5689028813646928696.mp4"}
+{"uid":"327504335961130425","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue packet on the table\n\u003c/PRED\u003e","video":"7859484127450712081.mp4"}
+{"uid":"4262913641609545069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9602334857115744482.mp4"}
+{"uid":"3219274658337409937","text":"\u003ctask:success:discrete:True\u003e\nput the popcorn bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn bag on the table\n\u003c/PRED\u003e","video":"4764144782219688817.mp4"}
+{"uid":"16525338148133215953","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2926505794202413389.mp4"}
+{"uid":"14334638518124212935","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: drop orange in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange in the container 2- drop the pear in the container 3- drop the pomegranate in the container 4- put the pear in the bucket 5- put the orange in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container Q: immediate next step? \u003cPRED\u003eA: drop orange in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange in the container\n\u003c/PRED\u003e","video":"4139476274100713385.mp4"}
+{"uid":"8235719535515487440","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the container\n\u003c/PRED\u003e","video":"14330226991634748213.mp4"}
+{"uid":"7109084037841375957","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: drop the orange in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in the container 2- drop orange in the container 3- drop the pear in the container 4- drop the pomegranate in the container 5- put the pear in the bucket\n\u003c/PRED\u003e","video":"12554499925775560126.mp4"}
+{"uid":"7785125703096347662","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container Q: immediate next step? \u003cPRED\u003eA: put the banana in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the banana in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the container 2- Drop pomegranate into basket 3- Push drawer 4- done\n\u003c/PRED\u003e","video":"10644467564852057105.mp4"}
+{"uid":"15504964669593856940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12514670510133795804.mp4"}
+{"uid":"1532025557904768688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the small two chits 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":"14020550804724499499.mp4"}
+{"uid":"4561328218368595883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the tray backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1365440502095067827.mp4"}
+{"uid":"12954018872986760529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7882592096260878500.mp4"}
+{"uid":"13306062879599788353","text":"\u003ctask:success:discrete:True\u003e\ndrop orange in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange in the container\n\u003c/PRED\u003e","video":"9012142559244235120.mp4"}
+{"uid":"15304287540200670927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the left stack in left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3703110857079202108.mp4"}
+{"uid":"14849215357710209209","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket 10- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket 10- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4748586909762265735.mp4"}
+{"uid":"12069069068200482290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14085940323841853878.mp4"}
+{"uid":"11029542427475442356","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pomegranate into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13278065496710279241.mp4"}
+{"uid":"18291397956712679980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp a 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":"12794823489305779769.mp4"}
+{"uid":"17182750408382472962","text":"\u003ctask:success:discrete:True\u003e\nDrop pomegranate into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e","video":"13370954722968126114.mp4"}
+{"uid":"11137613016351914945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the turkey stick 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":"5263407224055962626.mp4"}
+{"uid":"5702548427554065487","text":"\u003ctask:success:discrete:True\u003e\nDrop banana into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop banana into basket\n\u003c/PRED\u003e","video":"13837620468774052675.mp4"}
+{"uid":"13790760468406975067","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bucket 2- drop the pear in the container 3- drop the pomegranate in the container 4- put the pear in the bucket 5- put the orange in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12044929348285911114.mp4"}
+{"uid":"7535216951888183142","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the bucket 2- put the pear in the bucket 3- put the orange in the container 4- put the banana in the container 5- Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container Q: immediate next step? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10978174202167911252.mp4"}
+{"uid":"2232787311509476384","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket 10- Push drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket 10- Push drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6093141632883756077.mp4"}
+{"uid":"13881755889220899894","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPush drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Push drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket Q: immediate next step? \u003cPRED\u003eA: Push drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket Q: next 5 steps? \u003cPRED\u003eA: 1- Push drawer 2- done\n\u003c/PRED\u003e","video":"17448832056636919107.mp4"}
+{"uid":"4199933767521107023","text":"\u003ctask:success:discrete:True\u003e\nDrop pear into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e","video":"12033381072185614895.mp4"}
+{"uid":"12862828492037869847","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop orange into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop orange into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop orange into basket 2- drop the pear in the container 3- drop the pomegranate in the container 4- put the pear in the bucket 5- put the orange in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e","video":"2007448308284402647.mp4"}
+{"uid":"9685266905050780377","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e","video":"13898075936131243669.mp4"}
+{"uid":"10858111791312998417","text":"\u003ctask:success:discrete:False\u003e\nput the apple in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bucket 2- put the pear in the bucket 3- put the orange in the container 4- put the banana in the container 5- Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container Q: immediate next step? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e","video":"8099522819698510880.mp4"}
+{"uid":"15562626483660588695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sponge 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":"2541978448794202991.mp4"}
+{"uid":"6845712999010152727","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":"12776085160316540295.mp4"}
+{"uid":"7506025235323189046","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop orange into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10852214476982535782.mp4"}
+{"uid":"5850763968568233084","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pear into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pear into basket 2- put the banana in the container 3- Drop pomegranate into basket 4- Push drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: immediate next step? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pear into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e","video":"11584865940040062193.mp4"}
+{"uid":"10387723418230081202","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"53200622490234407.mp4"}
+{"uid":"9982814811834922449","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container Q: immediate next step? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pear into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pear into basket 2- put the pear in the bucket 3- put the orange in the container 4- put the banana in the container 5- Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pear into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2592956595122111971.mp4"}
+{"uid":"8365379647422907742","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2143263359806332028.mp4"}
+{"uid":"18159065021377027825","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bucket 2- Drop pomegranate into basket 3- Push drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket Q: immediate next step? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e","video":"9329380399070773418.mp4"}
+{"uid":"9400476159532159312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9200205911455403063.mp4"}
+{"uid":"4465378647138297113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"136326899211386920.mp4"}
+{"uid":"16118182265795695378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into chocolate rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10787967255717022220.mp4"}
+{"uid":"4210524478014401244","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bucket 2- Push drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container Q: immediate next step? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e","video":"16885075560030753312.mp4"}
+{"uid":"9440792468359983248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the brush from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18148482837600924468.mp4"}
+{"uid":"11120948201244177281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  packet 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":"3806322531154766056.mp4"}
+{"uid":"12889919754474312895","text":"\u003ctask:success:discrete:True\u003e\nput the pear in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e","video":"7517773066273992594.mp4"}
+{"uid":"8744877294370222053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a scoop of popcorn 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":"1823343532369853555.mp4"}
+{"uid":"14797904383333192946","text":"\u003ctask:success:discrete:False\u003e\nDrop banana into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop banana into basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Drop banana into basket 2- Push drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop banana into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop banana into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container Q: immediate next step? \u003cPRED\u003eA: Drop banana into basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop banana into basket\n\u003c/PRED\u003e","video":"14815136863399967565.mp4"}
+{"uid":"6783804820951381099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black marker into the right pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1223042124847975862.mp4"}
+{"uid":"211614674121242155","text":"\u003ctask:success:discrete:True\u003e\nput the banana in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the bucket\n\u003c/PRED\u003e","video":"12498606314621433330.mp4"}
+{"uid":"12986337449954301594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7600874010361128138.mp4"}
+{"uid":"415482262096822841","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pomegranate in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pomegranate in the container 2- put the pear in the bucket 3- put the orange in the container 4- put the banana in the container 5- Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pomegranate in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pomegranate in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: drop the pomegranate in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container Q: immediate next step? \u003cPRED\u003eA: drop the pomegranate in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pomegranate in the container\n\u003c/PRED\u003e","video":"16923561953881163955.mp4"}
+{"uid":"6423278322841318697","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the bucket 2- put the banana in the container 3- Drop pomegranate into basket 4- Push drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: immediate next step? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e","video":"6742213412024967316.mp4"}
+{"uid":"3580309409529958808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"880544229186942823.mp4"}
+{"uid":"4567187094175591932","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container 9- Drop pomegranate into basket Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"12933374212244669611.mp4"}
+{"uid":"11193965959654676103","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop orange into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8209377409114517905.mp4"}
+{"uid":"659133959933022344","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container Q: immediate next step? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pomegranate into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pomegranate into basket 2- put the pear in the bucket 3- put the orange in the container 4- put the banana in the container 5- Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pomegranate into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e","video":"16120923378499483317.mp4"}
+{"uid":"6395633699918829080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7379812663561874391.mp4"}
+{"uid":"4994211824932304787","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bucket\n\u003c/PRED\u003e","video":"13932106482719544313.mp4"}
+{"uid":"916926237486907770","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: immediate next step? \u003cPRED\u003eA: put the orange in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the orange in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the container 2- put the banana in the container 3- Drop pomegranate into basket 4- Push drawer 5- done\n\u003c/PRED\u003e","video":"7713150771245847438.mp4"}
+{"uid":"18265181017791687925","text":"\u003ctask:success:discrete:True\u003e\nDrop pear into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pear into basket\n\u003c/PRED\u003e","video":"3086423050371511809.mp4"}
+{"uid":"4303170727494291399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4683794385225714205.mp4"}
+{"uid":"14218816940534102765","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container Q: immediate next step? \u003cPRED\u003eA: put the banana in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the bucket 2- Drop pomegranate into basket 3- Push drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the bucket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the banana in the bucket\n\u003c/PRED\u003e","video":"471470947414940013.mp4"}
+{"uid":"17681209866024832696","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pear in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: drop pear in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pear in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: immediate next step? \u003cPRED\u003eA: drop pear in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop pear in the container 2- put the banana in the container 3- Drop pomegranate into basket 4- Push drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pear in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pear in the container\n\u003c/PRED\u003e","video":"13435351976011581124.mp4"}
+{"uid":"6967086767639664686","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11628016586067769552.mp4"}
+{"uid":"12954251974292208137","text":"\u003ctask:success:discrete:True\u003e\nput the pear in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in the bucket\n\u003c/PRED\u003e","video":"15787943835291013505.mp4"}
+{"uid":"9493483071079933166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1523862777117505607.mp4"}
+{"uid":"17976448881264692443","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container Q: immediate next step? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bucket 2- drop the pear in the container 3- drop the pomegranate in the container 4- put the pear in the bucket 5- put the orange in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e","video":"4276923528946570786.mp4"}
+{"uid":"3457793548019323139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3340163377447837345.mp4"}
+{"uid":"3096491842478585325","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":"11491377656880898384.mp4"}
+{"uid":"5195794210505665228","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bucket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bucket\n\u003c/PRED\u003e","video":"14569413137955318123.mp4"}
+{"uid":"16904957986111241870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pear in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pear in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16218597940806061912.mp4"}
+{"uid":"14716603505576409449","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pear in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pear in the container 2- drop the pomegranate in the container 3- put the pear in the bucket 4- put the orange in the container 5- put the banana in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pear in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: drop the pear in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container Q: immediate next step? \u003cPRED\u003eA: drop the pear in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pear in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pear in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7687048298660935751.mp4"}
+{"uid":"10005695773522660815","text":"\u003ctask:success:discrete:False\u003e\nDrop pomegranate into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pomegranate into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container Q: immediate next step? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop pomegranate into basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket 7- put the orange in the container 8- put the banana in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pomegranate into basket 2- Push drawer 3- done\n\u003c/PRED\u003e","video":"15534398763372769943.mp4"}
+{"uid":"12936484188794244351","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop orange into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7932763613650911298.mp4"}
+{"uid":"11940878107224410496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1611944457700601092.mp4"}
+{"uid":"10509037939750891060","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13259144292179080138.mp4"}
+{"uid":"18086934227519956940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8002856208305264070.mp4"}
+{"uid":"54401440497062060","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop orange into basket 2- Drop pomegranate into basket 3- Push drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container 3- drop orange in the container 4- drop the pear in the container 5- drop the pomegranate in the container 6- put the pear in the bucket Q: immediate next step? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop orange into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop orange into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10769622112983365072.mp4"}
+{"uid":"2783409510407627197","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pomegranate in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pomegranate in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11394115975648763898.mp4"}
+{"uid":"3948173371829365417","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop orange into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Drop orange into basket 2- drop the pomegranate in the container 3- put the pear in the bucket 4- put the orange in the container 5- put the banana in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket. last 20 steps: 1- open the drawer 2- drop the orange in the container Q: immediate next step? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruit from the top drawer and put it in the basket Q: immediate next step? \u003cPRED\u003eA: Drop orange into basket\n\u003c/PRED\u003e","video":"2224400503581436311.mp4"}
+{"uid":"6725703480627685707","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"10944591917473333750.mp4"}
+{"uid":"15098294404062830928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the top of the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10636596672394534882.mp4"}
+{"uid":"8270387901965855545","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"9116312645144064179.mp4"}
+{"uid":"17727521945759651368","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15837827087887782311.mp4"}
+{"uid":"9793668435106056343","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1691711866714468263.mp4"}
+{"uid":"2885881139460305755","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into stand 2- drop the pen into stand 3- put the blue pen in the pen holder 4- drop the pen into stand 5- pickup the pen\n\u003c/PRED\u003e","video":"8917858980181921234.mp4"}
+{"uid":"10001441797281178597","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into stand 2- pickup the pen 3- drop the pen into stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"14419772330972174602.mp4"}
+{"uid":"11007699020433288711","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- drop the pen into stand 3- pickup the pen 4- drop the pen into stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"17240934447365160722.mp4"}
+{"uid":"12521332460981772699","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- drop the pen into stand 3- put the blue pen in the pen holder 4- drop the pen into stand 5- pickup the pen\n\u003c/PRED\u003e","video":"5149384918210054125.mp4"}
+{"uid":"12178933170574668432","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue pen in the stand 2- Place the blue pen in the stand 3- put the blue pen in the pen holder 4- drop the pen into stand 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1285130159742588149.mp4"}
+{"uid":"2072215823575775564","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"661483718677303440.mp4"}
+{"uid":"6600269796679015580","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into stand 2- put the blue pen in the pen holder 3- drop the pen into stand 4- put the blue pen in the pen holder 5- drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8602222325717963764.mp4"}
+{"uid":"16126459801602499898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11745467563341140986.mp4"}
+{"uid":"18145134797823323758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11135133189383661688.mp4"}
+{"uid":"17396041551620715752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the popcorn 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":"5375943597887867229.mp4"}
+{"uid":"11665733603305393320","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9898368585580000659.mp4"}
+{"uid":"1221439458277656867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9154644282196484300.mp4"}
+{"uid":"3196375165747706659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen 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":"7171429492612455308.mp4"}
+{"uid":"14608721206084177986","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: drop pen into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop pen into stand 2- drop the pen into stand 3- pickup the pen 4- drop the pen into stand 5- done\n\u003c/PRED\u003e","video":"15678939691501947397.mp4"}
+{"uid":"9213779787035719193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6148248871048338807.mp4"}
+{"uid":"12756480829999987848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange pen in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1810870000232677864.mp4"}
+{"uid":"17795301117359071334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the lid of 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":"7105509692272640092.mp4"}
+{"uid":"12904066834130140056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1476817283931019869.mp4"}
+{"uid":"8860728584858820812","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17523460503563911737.mp4"}
+{"uid":"8843379678713985803","text":"\u003ctask:success:discrete:False\u003e\nPick up the blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue pen on the table 2- Place the blue pen in the stand 3- put the blue pen in the pen holder 4- drop the pen into stand 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue pen on the table\n\u003c/PRED\u003e","video":"1148743092086392109.mp4"}
+{"uid":"17853622535577049299","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup 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: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: pickup the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pickup the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the pen 2- drop the pen into stand 3- done\n\u003c/PRED\u003e","video":"3584929164371317136.mp4"}
+{"uid":"14732199822185260898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2535902075716375111.mp4"}
+{"uid":"11820256044818910507","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"16386701065060188840.mp4"}
+{"uid":"16412704715131003864","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17252692468752258046.mp4"}
+{"uid":"6793253949387544639","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- pickup the pen 3- drop the pen into stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"11540051118390403207.mp4"}
+{"uid":"10969054342071889276","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"4632157772413849678.mp4"}
+{"uid":"11294939208605329623","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen on the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- Place the blue pen on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- Place the blue pen on the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6392454453347659492.mp4"}
+{"uid":"17850487835016970833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cups 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":"14015286855720543869.mp4"}
+{"uid":"8833501208029712627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop it on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"578365323878686032.mp4"}
+{"uid":"2240862739685886592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the green object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7763412186800748881.mp4"}
+{"uid":"11209760593154638812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in black basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9449166237157777972.mp4"}
+{"uid":"14598542749652658527","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- put the blue pen in the pen holder 3- drop the pen into stand 4- put the blue pen in the pen holder 5- drop the pen into stand\n\u003c/PRED\u003e","video":"8747466556429232580.mp4"}
+{"uid":"12585325901605472085","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- pickup the pen 9- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- pickup the pen 9- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"14651423043576433777.mp4"}
+{"uid":"11691924433514719857","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"16651582035527473811.mp4"}
+{"uid":"16993552277055345304","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"7534388039558902946.mp4"}
+{"uid":"16013807162286033692","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":"7823667601400236745.mp4"}
+{"uid":"14577114265483156828","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- pickup the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into stand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- pickup the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"6697872442299862981.mp4"}
+{"uid":"882963179674346165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11274299284997140890.mp4"}
+{"uid":"8765597989089738657","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- drop the pen into stand 3- pickup the pen 4- drop the pen into stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e","video":"15655438997581306975.mp4"}
+{"uid":"3575894370515571624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3892017108846907227.mp4"}
+{"uid":"2208760055172246102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17162580597846633905.mp4"}
+{"uid":"11375842056758686718","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand 8- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16192547088764384335.mp4"}
+{"uid":"17508287451977448866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14156440529138115164.mp4"}
+{"uid":"15553856495337389379","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into stand 2- put the blue pen in the pen holder 3- drop the pen into stand 4- pickup the pen 5- drop the pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11251143502582818755.mp4"}
+{"uid":"9846616451211879275","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":"14041410403603611035.mp4"}
+{"uid":"11661698791378787357","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen on the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen on the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen on the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder 7- drop the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen on the stand 2- done\n\u003c/PRED\u003e","video":"7799872908033996085.mp4"}
+{"uid":"6440915438839935458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book on the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9304952491316199701.mp4"}
+{"uid":"3404194688165084787","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"11901411650936359989.mp4"}
+{"uid":"6317550278502819772","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into stand 2- Place the blue pen in the stand 3- put the blue pen in the pen holder 4- drop the pen into stand 5- put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e","video":"1358253691914109493.mp4"}
+{"uid":"4766468519509776229","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6716152632345726107.mp4"}
+{"uid":"6516042627655801024","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"868973704306218316.mp4"}
+{"uid":"13738500958622000984","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: pickup the pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pickup the pen into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the pen into stand\n\u003c/PRED\u003e","video":"17172777976218616088.mp4"}
+{"uid":"6511398144905309753","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- pickup the pen 3- drop the pen into stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand 4- put the blue pen in the pen holder 5- drop the pen into stand 6- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\n\u003c/PRED\u003e","video":"8868240184299258248.mp4"}
+{"uid":"12811401260678315358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"64114045521879435.mp4"}
+{"uid":"8589114944949843725","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup 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":"134614459183601230.mp4"}
+{"uid":"5562637586375053557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the soft toy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5743763361343351311.mp4"}
+{"uid":"4684209770696059265","text":"\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all blue pens into one pen holder. last 20 steps: 1- pickup the pen into stand 2- drop the pen into stand 3- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- drop the pen into stand 3- put the blue pen in the pen holder 4- drop the pen into stand 5- pickup the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"16338335831381621000.mp4"}
+{"uid":"4675015277639804361","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":"4467470963026255697.mp4"}
+{"uid":"1002879028496763171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the right door of the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15792654713532406447.mp4"}
+{"uid":"6297980760625423683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes 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":"5144957347689481179.mp4"}
+{"uid":"8856321341817981285","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow toffee in a red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in a red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow toffee in a red bowl 2- Place the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Put the blue toffee in glass 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow toffee in a red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in a red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow toffee in a red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow toffee in a red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15326427584793181234.mp4"}
+{"uid":"8413505168332453526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink toffee in the red bowl 2- Put the pink toffee in bowl 3- Move glass towards left 4- Put the red toffee in the bowl 5- Put the toffees in the bowl from glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink toffee in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e","video":"1765442952260621606.mp4"}
+{"uid":"16830343632818256932","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: stack the glass in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl 20- Put the toffees in the bowl from glass Q: immediate next step? \u003cPRED\u003eA: stack the glass in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl 20- Put the toffees in the bowl from glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass in the cup 2- pick the cup outside the room 3- throw the cup in the trash 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7446812233550988841.mp4"}
+{"uid":"15613139644619874009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"17855082136038900390.mp4"}
+{"uid":"16689888187859212991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink toffee in bowl 2- Move glass towards left 3- Put the red toffee in the bowl 4- Put the toffees in the bowl from glass 5- stack the glass in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink toffee in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e","video":"11397459074171380164.mp4"}
+{"uid":"8954035690495488173","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink toffee in the bowl 2- Put the pink toffee in bowl 3- Move glass towards left 4- Put the red toffee in the bowl 5- Put the toffees in the bowl from glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e","video":"17868195778424031450.mp4"}
+{"uid":"9765738962624037627","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tilted glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tilted glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the tilted glass upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tilted glass upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the tilted glass upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tilted glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tilted glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl\n\u003c/PRED\u003e","video":"6474996118697773232.mp4"}
+{"uid":"14871781200875617308","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow toffee in the bowl 2- Place the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Put the blue toffee in glass 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e","video":"17162922401441759972.mp4"}
+{"uid":"9073465287741622678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in small white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10279954747535659934.mp4"}
+{"uid":"4387346493523414574","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue toffee in the glass 2- put the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Place the red toffee in a paper bowl 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue toffee in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e","video":"5273491574894287499.mp4"}
+{"uid":"17645095981195588654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the basket 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":"11867801928946053152.mp4"}
+{"uid":"4823472509289656416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17117896538549155029.mp4"}
+{"uid":"6891610649899437690","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow toffee in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow toffee in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow toffee in the red bowl 2- put the yellow toffee in the bowl 3- Place the red toffee in a paper bowl 4- Put the blue toffee in glass 5- Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e","video":"12858100350804913723.mp4"}
+{"uid":"16555787781405853360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace kold 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":"272515670744328528.mp4"}
+{"uid":"8133620302837503505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the chocolates in the candy 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":"2321072912405033475.mp4"}
+{"uid":"5179371341661894417","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place all blue toffees in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace all blue toffees in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17703786808592632307.mp4"}
+{"uid":"5986230686518466750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13712663333612773144.mp4"}
+{"uid":"12163492511569291186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13643335348723169649.mp4"}
+{"uid":"3852473472623259587","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":"13342414129470896021.mp4"}
+{"uid":"12066791805507834212","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange red pens 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":"5176554955417125838.mp4"}
+{"uid":"9982233613910677739","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue toffee in glass 2- Put the pink toffee in bowl 3- Put the pink toffee in bowl 4- Move glass towards left 5- Put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue toffee in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e","video":"13160244726196381487.mp4"}
+{"uid":"9511120063670677908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3627874403426991689.mp4"}
+{"uid":"17704804961998499050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sponge brush on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8150245835574558825.mp4"}
+{"uid":"7777206133825300917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the upper shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4876645331397195259.mp4"}
+{"uid":"16759091081788584024","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue toffee in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue toffee in a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue toffee in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue toffee in a glass 2- Put the yellow toffee in bowl 3- Place the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue toffee in a glass\n\u003c/PRED\u003e","video":"3300987044192249947.mp4"}
+{"uid":"14485487931063982796","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink toffee in the bowl 2- Put the pink toffee in bowl 3- Put the pink toffee in bowl 4- Move glass towards left 5- Put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e","video":"15858160064807987357.mp4"}
+{"uid":"13633886592266870323","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move glass near bowls\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: Move glass near bowls\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove glass near bowls Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 glass near bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move glass near bowls 2- Put the red toffee in the bowl 3- Put the toffees in the bowl from glass 4- stack the glass in the cup 5- pick the cup outside the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move glass near bowls\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Move glass near bowls\n\u003c/PRED\u003e","video":"17987229197671006659.mp4"}
+{"uid":"11371976538555275643","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Place all blue toffees in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place all blue toffees in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace all blue toffees in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place all blue toffees in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place all blue toffees in the red bowl 2- stack the glass in the cup 3- pick the cup outside the room 4- throw the cup in the trash 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace all blue toffees in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place all blue toffees in the red bowl\n\u003c/PRED\u003e","video":"3478215534950032224.mp4"}
+{"uid":"5394069678765892568","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the toffees in the bowl from glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the toffees in the bowl from glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the toffees in the bowl from glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the toffees in the bowl from glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the toffees in the bowl from glass 2- stack the glass in the cup 3- pick the cup outside the room 4- throw the cup in the trash 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the toffees in the bowl from glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the toffees in the bowl from glass\n\u003c/PRED\u003e","video":"7927415680914438552.mp4"}
+{"uid":"6921130258997912502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop forks 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":"10520279333880379919.mp4"}
+{"uid":"6877798709761089004","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":"16419797052560514608.mp4"}
+{"uid":"9127547820205743307","text":"\u003ctask:success:discrete:False\u003e\nplace the blue toffee in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright Q: immediate next step? \u003cPRED\u003eA: place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue toffee in the glass 2- put the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Place the red toffee in a paper bowl 5- Put the blue toffee in glass\n\u003c/PRED\u003e","video":"8328224944362549.mp4"}
+{"uid":"18434585540925907418","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue toffee in the class 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue toffee in the class\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue toffee in the class Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue toffee in the class Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the class\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue toffee in the class\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the class\n\u003c/PRED\u003e","video":"2953369179921399315.mp4"}
+{"uid":"4529565642526639223","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow toffee in the red bowl 2- Place the red toffee in a paper bowl 3- Put the blue toffee in glass 4- Put the yellow toffee in bowl 5- Place the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow toffee in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e","video":"5608791066967360468.mp4"}
+{"uid":"14015074314374080193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar candy in a 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":"7316595781503686676.mp4"}
+{"uid":"17968114352899579234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the right black clip of the white 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":"3785042952766855876.mp4"}
+{"uid":"10603877445027894062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8283432912965298826.mp4"}
+{"uid":"7002748701294112042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pear in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9352023460921945363.mp4"}
+{"uid":"16756899017486009842","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow toffee in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow toffee in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow toffee in bowl 2- Place the red toffee in a paper bowl 3- Put the blue toffee in glass 4- Put the yellow toffee in bowl 5- Place the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e","video":"8296348049580550888.mp4"}
+{"uid":"13886550653099302617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15405211505696325026.mp4"}
+{"uid":"2591452941369217053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11324529727420411123.mp4"}
+{"uid":"16508862786519763907","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":"17699820423415777106.mp4"}
+{"uid":"11577122299505828099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11010660096451006614.mp4"}
+{"uid":"16287803232817636757","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the glass upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the glass upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5570692512096011337.mp4"}
+{"uid":"6723239385505228459","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow toffee in the red bowl 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- Put the pink toffee in bowl 5- Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow toffee in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow toffee in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow toffee in the red bowl\n\u003c/PRED\u003e","video":"14142804039731653530.mp4"}
+{"uid":"12671981674033145427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17372364356138271823.mp4"}
+{"uid":"13855253764998917794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13919266539136914949.mp4"}
+{"uid":"8671400466253609658","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl 6- Put the blue toffee in glass 7- Put the yellow toffee in bowl 8- Place the yellow toffee in the bowl 9- put the yellow toffee in the bowl 10- Put the blue toffee in glass 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the pink toffee in bowl 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Move glass towards left 17- Put the red toffee in the bowl 18- Put the toffees in the bowl from glass 19- stack the glass in the cup 20- Throw the glass paper bowl in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the glass paper bowl in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow the glass paper bowl in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl 6- Put the blue toffee in glass 7- Put the yellow toffee in bowl 8- Place the yellow toffee in the bowl 9- put the yellow toffee in the bowl 10- Put the blue toffee in glass 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the pink toffee in bowl 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Move glass towards left 17- Put the red toffee in the bowl 18- Put the toffees in the bowl from glass 19- stack the glass in the cup 20- Throw the glass paper bowl in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5511925202594723189.mp4"}
+{"uid":"10385334460150869687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9412262720170434448.mp4"}
+{"uid":"2180472286851986440","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cup outside the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cup outside the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the cup upright 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- put the yellow toffee in the bowl 5- put the yellow toffee in the bowl 6- Place the red toffee in a paper bowl 7- Put the blue toffee in glass 8- Put the yellow toffee in bowl 9- Place the yellow toffee in the bowl 10- put the yellow toffee in the bowl 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Move glass towards left 18- Put the red toffee in the bowl 19- Put the toffees in the bowl from glass 20- stack the glass in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cup outside the room 2- throw the cup in the trash 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cup outside the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: pick the cup outside the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the cup upright 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- put the yellow toffee in the bowl 5- put the yellow toffee in the bowl 6- Place the red toffee in a paper bowl 7- Put the blue toffee in glass 8- Put the yellow toffee in bowl 9- Place the yellow toffee in the bowl 10- put the yellow toffee in the bowl 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Move glass towards left 18- Put the red toffee in the bowl 19- Put the toffees in the bowl from glass 20- stack the glass in the cup Q: immediate next step? \u003cPRED\u003eA: pick the cup outside the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cup outside the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18001511199415770060.mp4"}
+{"uid":"685993033205917409","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup upright 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: immediate next step? \u003cPRED\u003eA: put the cup upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup upright\n\u003c/PRED\u003e","video":"9793892876024322820.mp4"}
+{"uid":"15620848610515275720","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":"8337952269547098798.mp4"}
+{"uid":"18338410240470277714","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue toffee in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue toffee in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl\n\u003c/PRED\u003e","video":"11614476271632160115.mp4"}
+{"uid":"6385576573951319388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15323814925392576486.mp4"}
+{"uid":"1793641620211402497","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left Q: immediate next step? \u003cPRED\u003eA: Put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red toffee in the bowl 2- Put the toffees in the bowl from glass 3- stack the glass in the cup 4- pick the cup outside the room 5- throw the cup in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9729554136052051000.mp4"}
+{"uid":"15993888593769702630","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":"9840076012538500924.mp4"}
+{"uid":"11856772901876594098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8755578421216722492.mp4"}
+{"uid":"92937279078398652","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue toffee in the glass 2- Put the blue toffee in glass 3- Put the pink toffee in bowl 4- Put the pink toffee in bowl 5- Put the pink toffee in bowl\n\u003c/PRED\u003e","video":"13268858249128043087.mp4"}
+{"uid":"10586408637965751213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16622391509883419023.mp4"}
+{"uid":"13622967511661894644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7019002367630165080.mp4"}
+{"uid":"2853616831534140363","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue toffee in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue toffee in glass 2- put the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Place the red toffee in a paper bowl 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue toffee in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue toffee in the glass 2- put the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Place the red toffee in a paper bowl 5- Put the blue toffee in glass\n\u003c/PRED\u003e","video":"6090091364056736710.mp4"}
+{"uid":"16433282867038032124","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move glass towards left 2- Put the red toffee in the bowl 3- Put the toffees in the bowl from glass 4- stack the glass in the cup 5- pick the cup outside the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move glass towards left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move glass towards left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove glass towards 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:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Move glass towards left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: Move glass towards left\n\u003c/PRED\u003e","video":"17004592755478888048.mp4"}
+{"uid":"4594123641948273829","text":"\u003ctask:success:discrete:True\u003e\nPut both of them in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put both of them in recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl 6- Put the blue toffee in glass 7- Put the yellow toffee in bowl 8- Place the yellow toffee in the bowl 9- put the yellow toffee in the bowl 10- Put the blue toffee in glass 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the pink toffee in bowl 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Move glass towards left 17- Put the red toffee in the bowl 18- Put the toffees in the bowl from glass 19- stack the glass in the cup 20- Put both of them in recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl 6- Put the blue toffee in glass 7- Put the yellow toffee in bowl 8- Place the yellow toffee in the bowl 9- put the yellow toffee in the bowl 10- Put the blue toffee in glass 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the pink toffee in bowl 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Move glass towards left 17- Put the red toffee in the bowl 18- Put the toffees in the bowl from glass 19- stack the glass in the cup 20- Put both of them in recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6396266283167713728.mp4"}
+{"uid":"10145368969891716859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6425038240634669313.mp4"}
+{"uid":"4093463106017045881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the helmet into the table rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17104915524707176.mp4"}
+{"uid":"13001030308800467676","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink toffee in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink toffee in bowl 2- Put the pink toffee in bowl 3- Move glass towards left 4- Put the red toffee in the bowl 5- Put the toffees in the bowl from glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink toffee in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e","video":"1264453130593490052.mp4"}
+{"uid":"14634950719505626813","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: immediate next step? \u003cPRED\u003eA: Place the Tipped paper cup upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the Tipped paper cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- Place the Tipped paper cup upright 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the Tipped paper cup upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the Tipped paper cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the Tipped paper cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the Tipped paper cup upright\n\u003c/PRED\u003e","video":"16713542217915367252.mp4"}
+{"uid":"1302786031218493825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue in the dust 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":"17643705675815516784.mp4"}
+{"uid":"14944009320214089290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"579836837289220276.mp4"}
+{"uid":"3839873319787850913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15956780294370624760.mp4"}
+{"uid":"13588429331604357668","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue toffee in the glass 2- Put the pink toffee in bowl 3- Put the pink toffee in bowl 4- Move glass towards left 5- Put the red toffee in the bowl\n\u003c/PRED\u003e","video":"41264700134535448.mp4"}
+{"uid":"4961156748359931457","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue toffee in the glass 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- Put the pink toffee in bowl 5- Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue toffee in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16260239170033181675.mp4"}
+{"uid":"1514455191502178010","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move glass towards left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Move glass towards left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove glass towards 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 glass towards left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove glass towards 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: Move glass towards left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move glass towards left 2- Put the red toffee in the bowl 3- Put the toffees in the bowl from glass 4- stack the glass in the cup 5- pick the cup outside the room\n\u003c/PRED\u003e","video":"14560347986924572948.mp4"}
+{"uid":"2106826085008872977","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red toffee in paper cup 2- Put the blue toffee in glass 3- Put the yellow toffee in bowl 4- Place the yellow toffee in the bowl 5- put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the red toffee in the cup 2- Put the blue toffee in glass 3- Put the yellow toffee in bowl 4- Place the yellow toffee in the bowl 5- put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: put the red toffee in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red toffee in paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the red toffee in paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red toffee in paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red toffee in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red toffee in paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red toffee in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the red toffee in paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red toffee in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the red toffee in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red toffee in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red toffee in paper cup\n\u003c/PRED\u003e","video":"12738164296836847864.mp4"}
+{"uid":"9860755083769935461","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue toffee in the glass 2- Put the blue toffee in glass 3- Put the pink toffee in bowl 4- Put the pink toffee in bowl 5- Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e","video":"7306277783946844617.mp4"}
+{"uid":"3384528652887950572","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: immediate next step? \u003cPRED\u003eA: Place the tilted paper bowl upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tilted paper bowl upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the tilted paper bowl upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tilted paper bowl upright 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tilted paper bowl upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tilted paper bowl upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tilted paper bowl upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9688383393123701197.mp4"}
+{"uid":"919024596078356967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12116445456965308630.mp4"}
+{"uid":"2876476663433295661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8553076537100039588.mp4"}
+{"uid":"10127067351485490173","text":"\u003ctask:success:discrete:True\u003e\npick the cup outside the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cup outside the room\n\u003c/PRED\u003e","video":"5310643534989387099.mp4"}
+{"uid":"10538831690319809821","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue toffee in the glass 2- Put the yellow toffee in bowl 3- Place the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue toffee in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e","video":"9243804167826834865.mp4"}
+{"uid":"6774600293122845928","text":"\u003ctask:success:discrete:True\u003e\nPut the red toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red toffee in the bowl\n\u003c/PRED\u003e","video":"15915848938187341267.mp4"}
+{"uid":"11054901276661403627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book in correct order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14496531739702863459.mp4"}
+{"uid":"16773769306964505211","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the red toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red toffee in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red toffee in the red bowl 2- Put the toffees in the bowl from glass 3- stack the glass in the cup 4- pick the cup outside the room 5- throw the cup in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red toffee in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left Q: immediate next step? \u003cPRED\u003eA: Place the red toffee in the red bowl\n\u003c/PRED\u003e","video":"10644628516833716707.mp4"}
+{"uid":"9412245480310776800","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow toffee in the bowl 2- put the yellow toffee in the bowl 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- Put the blue toffee in glass\n\u003c/PRED\u003e","video":"7629747169030513114.mp4"}
+{"uid":"6251123561065005751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5866475835431036269.mp4"}
+{"uid":"8623620764517901217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the black cloth to the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9843889412726471578.mp4"}
+{"uid":"16474860175946028938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5477528381462116513.mp4"}
+{"uid":"18437587880719806228","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue toffee in the glass 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- Put the pink toffee in bowl 5- Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue toffee in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16103033312435010060.mp4"}
+{"uid":"12770050238095343345","text":"\u003ctask:success:discrete:False\u003e\nput the yellow toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow toffee in the bowl 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e","video":"7744739148633120993.mp4"}
+{"uid":"17247346920488538730","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow toffee in the bowl 2- Place the red toffee in a paper bowl 3- Put the blue toffee in glass 4- Put the yellow toffee in bowl 5- Place the yellow toffee in the bowl\n\u003c/PRED\u003e","video":"12900982850799989572.mp4"}
+{"uid":"18430187128848430660","text":"\u003ctask:success:discrete:False\u003e\nPut glass in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl 20- Put the toffees in the bowl from glass Q: immediate next step? \u003cPRED\u003eA: Put glass in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put glass in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put glass in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut glass in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl 20- Put the toffees in the bowl from glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put glass in the paper cup 2- throw the cup in the trash 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put glass in the paper cup\n\u003c/PRED\u003e","video":"16937867502968569231.mp4"}
+{"uid":"678722929050438450","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink toffee in the bowl 2- Move glass towards left 3- Put the red toffee in the bowl 4- Put the toffees in the bowl from glass 5- stack the glass in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl Q: immediate next step? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink toffee in the red bowl 2- Move glass towards left 3- Put the red toffee in the bowl 4- Put the toffees in the bowl from glass 5- stack the glass in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the pink toffee in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink toffee in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13440542731755701338.mp4"}
+{"uid":"11448664430163276012","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl 20- Put the toffees in the bowl from glass Q: immediate next step? \u003cPRED\u003eA: Place the glass in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the glass in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the glass in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left 19- Put the red toffee in the bowl 20- Put the toffees in the bowl from glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the glass in the paper bowl 2- pick the cup outside the room 3- throw the cup in the trash 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the glass in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the glass in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the glass in the paper bowl\n\u003c/PRED\u003e","video":"7680200075816397856.mp4"}
+{"uid":"12709257694308071301","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the glass paper bowl in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the glass paper bowl in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Throw the glass paper bowl in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the cup upright 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- put the yellow toffee in the bowl 5- put the yellow toffee in the bowl 6- Place the red toffee in a paper bowl 7- Put the blue toffee in glass 8- Put the yellow toffee in bowl 9- Place the yellow toffee in the bowl 10- put the yellow toffee in the bowl 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Move glass towards left 18- Put the red toffee in the bowl 19- Put the toffees in the bowl from glass 20- stack the glass in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the glass paper bowl in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the glass paper bowl in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the glass paper bowl in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the cup upright 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- put the yellow toffee in the bowl 5- put the yellow toffee in the bowl 6- Place the red toffee in a paper bowl 7- Put the blue toffee in glass 8- Put the yellow toffee in bowl 9- Place the yellow toffee in the bowl 10- put the yellow toffee in the bowl 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Move glass towards left 18- Put the red toffee in the bowl 19- Put the toffees in the bowl from glass 20- stack the glass in the cup Q: immediate next step? \u003cPRED\u003eA: Throw the glass paper bowl in the trash bin\n\u003c/PRED\u003e","video":"1819147413333848749.mp4"}
+{"uid":"9908563183288229905","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink toffee in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink toffee in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink toffee in the red bowl 2- Put the pink toffee in bowl 3- Move glass towards left 4- Put the red toffee in the bowl 5- Put the toffees in the bowl from glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink toffee in the red bowl\n\u003c/PRED\u003e","video":"16751480397220829798.mp4"}
+{"uid":"14053725160831339053","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue toffee in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11792701567386519600.mp4"}
+{"uid":"18033180421302126541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18247282785399976289.mp4"}
+{"uid":"13588302790945843062","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue toffee in the glass 2- Put the pink toffee in bowl 3- Put the pink toffee in bowl 4- Put the pink toffee in bowl 5- Move glass towards left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: put the blue toffee in the glass\n\u003c/PRED\u003e","video":"2995437895384708213.mp4"}
+{"uid":"14629165836851090767","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut both of them in recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put both of them in recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the cup upright 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- put the yellow toffee in the bowl 5- put the yellow toffee in the bowl 6- Place the red toffee in a paper bowl 7- Put the blue toffee in glass 8- Put the yellow toffee in bowl 9- Place the yellow toffee in the bowl 10- put the yellow toffee in the bowl 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Move glass towards left 18- Put the red toffee in the bowl 19- Put the toffees in the bowl from glass 20- stack the glass in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put both of them in recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put both of them in recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut both of them in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put both of them in recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the cup upright 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- put the yellow toffee in the bowl 5- put the yellow toffee in the bowl 6- Place the red toffee in a paper bowl 7- Put the blue toffee in glass 8- Put the yellow toffee in bowl 9- Place the yellow toffee in the bowl 10- put the yellow toffee in the bowl 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Move glass towards left 18- Put the red toffee in the bowl 19- Put the toffees in the bowl from glass 20- stack the glass in the cup Q: immediate next step? \u003cPRED\u003eA: Put both of them in recycle bin\n\u003c/PRED\u003e","video":"6241532135839052052.mp4"}
+{"uid":"10254564358765499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17523377790339885593.mp4"}
+{"uid":"11108629161796354432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2044672924444915649.mp4"}
+{"uid":"12918117883812837266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4008355469768444757.mp4"}
+{"uid":"646009564695164365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12637836651992181009.mp4"}
+{"uid":"11691894743023814989","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow toffee in the bowl 2- put the yellow toffee in the bowl 3- Place the red toffee in a paper bowl 4- Put the blue toffee in glass 5- Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: put the yellow toffee in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18060289071873524373.mp4"}
+{"uid":"13730042503434841549","text":"\u003ctask:success:discrete:True\u003e\nPut the toffees in the bowl from glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the toffees in the bowl from glass\n\u003c/PRED\u003e","video":"14945366430091347885.mp4"}
+{"uid":"17906852696603658153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"292044220395251881.mp4"}
+{"uid":"10809829301432658761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow toffee in bowl 2- Place the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Put the blue toffee in glass 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow toffee in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow toffee in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow toffee in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17266520538120286143.mp4"}
+{"uid":"4838655630044597898","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl 6- Put the blue toffee in glass 7- Put the yellow toffee in bowl 8- Place the yellow toffee in the bowl 9- put the yellow toffee in the bowl 10- Put the blue toffee in glass 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the pink toffee in bowl 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Move glass towards left 17- Put the red toffee in the bowl 18- Put the toffees in the bowl from glass 19- stack the glass in the cup 20- pick the cup outside the room Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the trash 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- put the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Place the red toffee in a paper bowl 6- Put the blue toffee in glass 7- Put the yellow toffee in bowl 8- Place the yellow toffee in the bowl 9- put the yellow toffee in the bowl 10- Put the blue toffee in glass 11- Put the blue toffee in glass 12- Put the blue toffee in glass 13- Put the pink toffee in bowl 14- Put the pink toffee in bowl 15- Put the pink toffee in bowl 16- Move glass towards left 17- Put the red toffee in the bowl 18- Put the toffees in the bowl from glass 19- stack the glass in the cup 20- pick the cup outside the room Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the cup in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: throw the cup in the trash\n\u003c/PRED\u003e","video":"5290363584625789082.mp4"}
+{"uid":"2978269110599522999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9799453039007805553.mp4"}
+{"uid":"13595362856343083709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper cup behind Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16175348304793508839.mp4"}
+{"uid":"16145903223901008826","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue toffee in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- Put the pink toffee in bowl 4- Put the pink toffee in bowl 5- Put the pink toffee in bowl\n\u003c/PRED\u003e","video":"1246558932068137371.mp4"}
+{"uid":"4233830279833310259","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red toffee in a paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red toffee in a paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red toffee in a paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Place the red toffee in a paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red toffee in a paper bowl 2- Put the yellow toffee in bowl 3- Place the yellow toffee in the bowl 4- put the yellow toffee in the bowl 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red toffee in a paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the red toffee in a paper bowl\n\u003c/PRED\u003e","video":"7671715732271771695.mp4"}
+{"uid":"5045970461790335888","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue toffee in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue toffee in glass 2- Put the blue toffee in glass 3- Put the blue toffee in glass 4- Put the pink toffee in bowl 5- Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue toffee in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e","video":"14815163495605322589.mp4"}
+{"uid":"6085989244527346550","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue toffee in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue toffee in glass 2- Place the yellow toffee in the bowl 3- put the yellow toffee in the bowl 4- Put the blue toffee in glass 5- Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue toffee in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue toffee in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11640442055040347350.mp4"}
+{"uid":"5525789189195955361","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left Q: next 5 steps? \u003cPRED\u003eA: 1- put the red toffee in the bowl 2- Put the toffees in the bowl from glass 3- stack the glass in the cup 4- pick the cup outside the room 5- throw the cup in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red toffee in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red toffee in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass 15- Put the pink toffee in bowl 16- Put the pink toffee in bowl 17- Put the pink toffee in bowl 18- Move glass towards left Q: immediate next step? \u003cPRED\u003eA: put the red toffee in the bowl\n\u003c/PRED\u003e","video":"11604873152441450862.mp4"}
+{"uid":"17648197196507169006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black  pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17800762751849932959.mp4"}
+{"uid":"3778384721540886916","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container Q: immediate next step? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink toffee in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass Q: immediate next step? \u003cPRED\u003eA: Put the pink toffee in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Collect all of the spilled candy and put it in one container. last 20 steps: 1- put the glass upright 2- put the cup upright 3- Put the blue toffee in glass 4- Put the blue toffee in glass 5- put the yellow toffee in the bowl 6- put the yellow toffee in the bowl 7- Place the red toffee in a paper bowl 8- Put the blue toffee in glass 9- Put the yellow toffee in bowl 10- Place the yellow toffee in the bowl 11- put the yellow toffee in the bowl 12- Put the blue toffee in glass 13- Put the blue toffee in glass 14- Put the blue toffee in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink toffee in bowl 2- Put the pink toffee in bowl 3- Move glass towards left 4- Put the red toffee in the bowl 5- Put the toffees in the bowl from glass\n\u003c/PRED\u003e","video":"12920060395359453342.mp4"}
+{"uid":"16214681129357165717","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":"18269882742300271410.mp4"}
+{"uid":"9270501101873039335","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grey toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grey toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the grey toy on the table 2- Put the other toy on table 3- Move arm away from table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: place the grey toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grey toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the grey toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the grey toy 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":"12601922242159794550.mp4"}
+{"uid":"12703499751165443229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes on the tray 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":"1135962607676975782.mp4"}
+{"uid":"6392279528949931615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the hand glove on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16193838153263208733.mp4"}
+{"uid":"4288656352305444383","text":"\u003ctask:success:discrete:True\u003e\nPlace the ball on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the ball on the table.\n\u003c/PRED\u003e","video":"7511208289283751420.mp4"}
+{"uid":"4483628602608856823","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table Q: immediate next step? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coke can on the table 2- put pepsi can on the table 3- place the orange can on the table 4- done\n\u003c/PRED\u003e","video":"2996371817754428063.mp4"}
+{"uid":"981101209936229314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"12090330798577949989.mp4"}
+{"uid":"18008178667578313178","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table Q: immediate next step? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put coke can on the table 2- put pepsi can on the table 3- place the orange can on the table 4- done\n\u003c/PRED\u003e","video":"3718330363900580515.mp4"}
+{"uid":"14461809740549357411","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":"17287709020299136301.mp4"}
+{"uid":"10612539930798807084","text":"\u003ctask:success:discrete:True\u003e\nput orange ball on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange ball on the table\n\u003c/PRED\u003e","video":"16028225388899540431.mp4"}
+{"uid":"16863242149942847945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"1354517368869112863.mp4"}
+{"uid":"12861660040610734498","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 7up can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 7up can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 7up can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 7up can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put 7up can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put 7up can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table\n\u003c/PRED\u003e","video":"11568699899061220617.mp4"}
+{"uid":"1741590662807577712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on black 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":"5923203839982490504.mp4"}
+{"uid":"897826091329121008","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table 6- put pepsi can on the table Q: immediate next step? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table 6- put pepsi can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange can on the table 2- done\n\u003c/PRED\u003e","video":"11137855032194789299.mp4"}
+{"uid":"13290454383986654108","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table Q: immediate next step? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange can on the table 2- place the coke can on the table 3- put pepsi can on the table 4- place the orange can on the table 5- done\n\u003c/PRED\u003e","video":"1949019573465856083.mp4"}
+{"uid":"4096227785273420648","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: Move arm away from table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move arm away from table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove arm away from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move arm away from table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove arm away from 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: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table 3- Put the other toy on table Q: next 5 steps? \u003cPRED\u003eA: 1- Move arm away from table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table 3- Put the other toy on table Q: immediate next step? \u003cPRED\u003eA: Move arm away from table\n\u003c/PRED\u003e","video":"15971495818512286175.mp4"}
+{"uid":"10701900917616433489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pear 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":"4213916417811148148.mp4"}
+{"uid":"16821315005426224252","text":"\u003ctask:success:discrete:True\u003e\nPut the toy on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the toy on table\n\u003c/PRED\u003e","video":"6931414600336699075.mp4"}
+{"uid":"17196303108349240841","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 7up can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 7up can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 7up can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 7up can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the 7up can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the 7up can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table\n\u003c/PRED\u003e","video":"10725119826498566879.mp4"}
+{"uid":"10927366689897194047","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table Q: immediate next step? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put coke can on the table 2- place the orange can on the table 3- place the coke can on the table 4- put pepsi can on the table 5- place the orange can on the table\n\u003c/PRED\u003e","video":"3136399508652846414.mp4"}
+{"uid":"14759566676452851532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7311678032805631396.mp4"}
+{"uid":"11635985533970092573","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table Q: immediate next step? \u003cPRED\u003eA: put orange ball on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange ball on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange ball on the table 2- Put the other toy on table 3- Move arm away from table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange ball on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: put orange ball on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange ball 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":"5804071127308208952.mp4"}
+{"uid":"10824600743204922669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into 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":"6899579313322096478.mp4"}
+{"uid":"3487526845065161223","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the toy on table 2- Put the ball on table 3- Put the other toy on table 4- Move arm away from table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the toy on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: Put the toy on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the toy on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the toy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the toy on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the toy on table\n\u003c/PRED\u003e","video":"17920261490658970888.mp4"}
+{"uid":"15466073484375281701","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pepsi can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pepsi can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table Q: immediate next step? \u003cPRED\u003eA: place the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pepsi can on the table 2- place the orange can on the table 3- done\n\u003c/PRED\u003e","video":"10074439922213692667.mp4"}
+{"uid":"8647007068184895593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen on the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18027526882217389052.mp4"}
+{"uid":"10315401440802118786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11843365979011477697.mp4"}
+{"uid":"13367116221066892238","text":"\u003ctask:success:discrete:True\u003e\nplace the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table 6- put pepsi can on the table 7- place the orange can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table 6- put pepsi can on the table 7- place the orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18428993343850176496.mp4"}
+{"uid":"18410508853611416808","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput green can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table Q: immediate next step? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put green can on the table 2- Put the coke can on the table 3- place the orange can on the table 4- place the coke can on the table 5- put pepsi can on the table\n\u003c/PRED\u003e","video":"9006462842681374736.mp4"}
+{"uid":"9783954594705220259","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the purple coloured toy 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: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the purple coloured toy on the Table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the purple coloured toy on the Table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the purple coloured toy on the Table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the purple coloured toy on the Table. 2- Put the other toy on table 3- Move arm away from table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the purple coloured toy on the Table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the purple coloured toy 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":"5891231551606596223.mp4"}
+{"uid":"3078488041924435841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"17519462908269168186.mp4"}
+{"uid":"17461656438056120663","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the green can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table Q: immediate next step? \u003cPRED\u003eA: Put the green can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green can on the table 2- Put the coke can on the table 3- place the orange can on the table 4- place the coke can on the table 5- put pepsi can on the table\n\u003c/PRED\u003e","video":"10730004432813114700.mp4"}
+{"uid":"1047370114319113633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15742417999402903058.mp4"}
+{"uid":"17144576855058377156","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knitted toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knitted toy 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":"15869995693406307967.mp4"}
+{"uid":"3721194243946101204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on 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":"15227012615912427527.mp4"}
+{"uid":"10157377159158704495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10520666646376546048.mp4"}
+{"uid":"9434367837429380742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the cap in the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13448674481767902887.mp4"}
+{"uid":"16221136755519169342","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knitted toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knitted toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the knitted toy on the table 2- Move arm away from table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table Q: immediate next step? \u003cPRED\u003eA: put the knitted toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knitted toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knitted toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: put the knitted toy on the table\n\u003c/PRED\u003e","video":"10984962585529368206.mp4"}
+{"uid":"11540579704080881596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13168869670656854919.mp4"}
+{"uid":"14398210117964847536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the black 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":"2639559775641656674.mp4"}
+{"uid":"16675415826138502518","text":"\u003ctask:success:discrete:True\u003e\nPut the other toy on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the other toy on table\n\u003c/PRED\u003e","video":"8393820029456597299.mp4"}
+{"uid":"693561443066430149","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the green can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table Q: immediate next step? \u003cPRED\u003eA: place the green can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green can on the table 2- Put the coke can on the table 3- place the orange can on the table 4- place the coke can on the table 5- put pepsi can on the table\n\u003c/PRED\u003e","video":"6534292790321870227.mp4"}
+{"uid":"10057960756901644842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14552288494482167850.mp4"}
+{"uid":"3455823593632420100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2909300703679063126.mp4"}
+{"uid":"4489825028858574622","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the purple coloured toy on the Table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the purple coloured toy 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":"3299217513278625406.mp4"}
+{"uid":"13687496331833696569","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the knitted toy on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table 3- Place the knitted toy on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the knitted toy on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table 3- Place the knitted toy on the table. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1644479383319234339.mp4"}
+{"uid":"377036113731221132","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the other toy on table 2- Move arm away from table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the other toy on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table Q: immediate next step? \u003cPRED\u003eA: Put the other toy on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the other toy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the other toy on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: Put the other toy on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the other toy on table\n\u003c/PRED\u003e","video":"271127151543970493.mp4"}
+{"uid":"14804410621573593321","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the white can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table\n\u003c/PRED\u003e","video":"14329004207282890704.mp4"}
+{"uid":"11488753448086278997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14352652617643073065.mp4"}
+{"uid":"4281598648774175714","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table Q: immediate next step? \u003cPRED\u003eA: Place the knitted toy on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the knitted toy on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the knitted toy on the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the knitted toy on the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the knitted toy on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the knitted toy on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table 2- Put the ball on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the knitted toy on the table. 2- done\n\u003c/PRED\u003e","video":"15976813911728220935.mp4"}
+{"uid":"842137279738101032","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the grey toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the grey toy 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":"8107838373721644831.mp4"}
+{"uid":"13657923117782173784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut apple 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":"3886632338578044140.mp4"}
+{"uid":"4855139663460710373","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the ball on the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the ball on the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table Q: immediate next step? \u003cPRED\u003eA: Place the ball on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the ball on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the ball on the table. 2- Move arm away from table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the ball on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the ball 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":"3963028659420660453.mp4"}
+{"uid":"5276857494192165355","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pepsi can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pepsi can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table Q: immediate next step? \u003cPRED\u003eA: Put the pepsi can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pepsi can on the table 2- place the orange can on the table 3- done\n\u003c/PRED\u003e","video":"11724627685064981216.mp4"}
+{"uid":"14773910361524688402","text":"\u003ctask:success:discrete:True\u003e\nPut the ball on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the ball on table\n\u003c/PRED\u003e","video":"877138608276844726.mp4"}
+{"uid":"16423852915640366147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table Q: immediate next step? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coke can on the table 2- place the orange can on the table 3- place the coke can on the table 4- put pepsi can on the table 5- place the orange can on the table\n\u003c/PRED\u003e","video":"6151905606990823346.mp4"}
+{"uid":"16668833507431345085","text":"\u003ctask:success:discrete:True\u003e\nplace the pepsi can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pepsi can on the table\n\u003c/PRED\u003e","video":"13567851077067274306.mp4"}
+{"uid":"1347960939738627530","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put orange can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table Q: immediate next step? \u003cPRED\u003eA: put orange can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange can on the table 2- place the coke can on the table 3- put pepsi can on the table 4- place the orange can on the table 5- done\n\u003c/PRED\u003e","video":"4196121819866506347.mp4"}
+{"uid":"7328369817379378820","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table Q: immediate next step? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the coke can on the table 2- put pepsi can on the table 3- place the orange can on the table 4- done\n\u003c/PRED\u003e","video":"14616554412365394310.mp4"}
+{"uid":"6209909158528691409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16548239753105005025.mp4"}
+{"uid":"6584745248368544184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12512367103831698653.mp4"}
+{"uid":"15768574446539723431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a instant oatmeal pack in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18296760886991672839.mp4"}
+{"uid":"11486239142694665045","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange can on the table 2- place the coke can on the table 3- put pepsi can on the table 4- place the orange can on the table 5- done\n\u003c/PRED\u003e","video":"726377398914020875.mp4"}
+{"uid":"12110310054953118863","text":"\u003ctask:success:discrete:True\u003e\nPut the pepsi can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pepsi can on the table\n\u003c/PRED\u003e","video":"11424764755533360837.mp4"}
+{"uid":"6789102601611657528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12482949072622789378.mp4"}
+{"uid":"10099273503912891635","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pepsi can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pepsi can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pepsi can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pepsi can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put pepsi can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table Q: immediate next step? \u003cPRED\u003eA: put pepsi can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table 3- Put the coke can on the table 4- place the orange can on the table 5- place the coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pepsi can on the table 2- place the orange can on the table 3- done\n\u003c/PRED\u003e","video":"11468152760579393668.mp4"}
+{"uid":"10687086105020265194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet into the small 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":"128340194152360500.mp4"}
+{"uid":"434011712834375962","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the ball on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the ball on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the ball on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the ball on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter? Q: immediate next step? \u003cPRED\u003eA: Put the ball on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the ball on table 2- Put the other toy on table 3- Move arm away from table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me 3 dog toys from the plasic box on the floor and put them on the counter?. last 20 steps: 1- Put the toy on table Q: immediate next step? \u003cPRED\u003eA: Put the ball on table\n\u003c/PRED\u003e","video":"16157272562843031908.mp4"}
+{"uid":"14348195988854945104","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table Q: immediate next step? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put 7up can on the table 2- put green can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the coke can on the table 2- place the orange can on the table 3- place the coke can on the table 4- put pepsi can on the table 5- place the orange can on the table\n\u003c/PRED\u003e","video":"4162335755930333076.mp4"}
+{"uid":"1224609655517349627","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":"9577479000194022134.mp4"}
+{"uid":"17526527700692354362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a spoon 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":"15653939482983988719.mp4"}
+{"uid":"15472323964498158888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15355561275180815933.mp4"}
+{"uid":"16368952330153218833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2016787158218902850.mp4"}
+{"uid":"7452510261197005771","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pen in the middle holder 3- put red pen in the middle holder 4- put red pen in the holder to your left 5- put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e","video":"2984246843605635102.mp4"}
+{"uid":"17305275237683263851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the packet near 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":"11691592914135158883.mp4"}
+{"uid":"12503247024219797540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1278271392087131346.mp4"}
+{"uid":"12635403559359030344","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pen in the middle 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":"17569157983233252184.mp4"}
+{"uid":"9243454006017299798","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"855075037002676773.mp4"}
+{"uid":"131462011688248811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pen in the middle 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":"2298227672687106568.mp4"}
+{"uid":"11685923419681998981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"680012105347806112.mp4"}
+{"uid":"1551612938043627963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15243947211401456295.mp4"}
+{"uid":"12283067092520526749","text":"\u003ctask:success:discrete:True\u003e\nput red pen in the holder to your 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e","video":"3743971366027787179.mp4"}
+{"uid":"9283092906795099134","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put red pen in the middle holder 8- put red pens in the middle holder 9- put red pen in the middle holder 10- put red pen in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the holder to your left 17- put red pen in the holder to your left 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put red pen in the middle holder 8- put red pens in the middle holder 9- put red pen in the middle holder 10- put red pen in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the holder to your left 17- put red pen in the holder to your left 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder to your left 2- put red pen in the holder to your left 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the holder to your 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","video":"13736911585517048907.mp4"}
+{"uid":"13283321581070405988","text":"\u003ctask:success:discrete:True\u003e\nput black pen in the holder to your right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"14213735010382106360.mp4"}
+{"uid":"12470473273244570922","text":"\u003ctask:success:discrete:True\u003e\nput red pen in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e","video":"11241341978538199055.mp4"}
+{"uid":"11007249157393319565","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pen in the middle holder 3- put red pen in the middle holder 4- put red pen in the middle holder 5- put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e","video":"14736207147820130100.mp4"}
+{"uid":"15274001353514155962","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pen in the middle 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":"571046688726524576.mp4"}
+{"uid":"18217120464760739648","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the holder to your 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"5508333154435237133.mp4"}
+{"uid":"14070079159039536657","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pen in the middle 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":"8980825308368781115.mp4"}
+{"uid":"2747368942946922202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the wiper from the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3609493929915347268.mp4"}
+{"uid":"6868535426384143799","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the holder to your 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:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put red pen in the middle holder 12- put red pens in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the middle holder 20- put red pen in the holder to your left Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder to your left 2- put red pen in the holder to your left 3- put red pen in the holder to your left 4- put red pen in the holder to your left 5- put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put red pen in the middle holder 12- put red pens in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the middle holder 20- put red pen in the holder to your left Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e","video":"3710927981813013246.mp4"}
+{"uid":"4810115247718743147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy into 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":"10894396371057441139.mp4"}
+{"uid":"12340433922788149237","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pen in the middle holder 3- put red pen in the middle holder 4- put red pen in the middle holder 5- put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle 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":"15324933701352280977.mp4"}
+{"uid":"11106293956972100936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput stone 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":"13528190106034221092.mp4"}
+{"uid":"9981802821507846485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the gray 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":"10697772957929164823.mp4"}
+{"uid":"7178502578676729619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"479009604449638422.mp4"}
+{"uid":"9486814905503067147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"12030646162685034102.mp4"}
+{"uid":"12366583339841694638","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pen in the middle holder 3- put red pen in the holder to your left 4- put red pen in the holder to your left 5- put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e","video":"6091828900354229722.mp4"}
+{"uid":"16970320896754266766","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pens in the middle holder 3- put red pen in the middle holder 4- put red pen in the middle holder 5- put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e","video":"8867526488015505511.mp4"}
+{"uid":"13965520612196416096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the hint bottle 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":"5747174306677017325.mp4"}
+{"uid":"9621545744761443461","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"2195192393979483407.mp4"}
+{"uid":"4128859827367998088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sweetcorn 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":"15191403852203482524.mp4"}
+{"uid":"14873071192691534082","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pen in the middle 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":"15869335162716006807.mp4"}
+{"uid":"9469168835353191391","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black pen in the holder to your right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16031409252227948159.mp4"}
+{"uid":"11159864373739093536","text":"\u003ctask:success:discrete:True\u003e\nput black pen in the holder to your right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"690817687235385401.mp4"}
+{"uid":"2184060095424571334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7966018813461131287.mp4"}
+{"uid":"14914124039796991453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the blue glass down 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":"7792640385481675096.mp4"}
+{"uid":"4075629736537244946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"17508526122963205705.mp4"}
+{"uid":"13881925446571572418","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pen in the middle holder 3- put red pen in the middle holder 4- put red pen in the middle holder 5- put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e","video":"7809850904957420739.mp4"}
+{"uid":"13085300083673248395","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the holder to your 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put red pen in the middle holder 3- put red pens in the middle holder 4- put red pen in the middle holder 5- put red pen in the middle holder\n\u003c/PRED\u003e","video":"8264431289876158613.mp4"}
+{"uid":"17394523601563097600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pens in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pens in the middle 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":"18189211496785519389.mp4"}
+{"uid":"451295777371894342","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put red pen in the middle holder 9- put red pens in the middle holder 10- put red pen in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the holder to your left 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put red pen in the middle holder 9- put red pens in the middle holder 10- put red pen in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the holder to your left 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder to your left 2- put red pen in the holder to your left 3- put red pen in the holder to your left 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the holder to your 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","video":"350212238431151657.mp4"}
+{"uid":"14646735965750892964","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"7695909560732701887.mp4"}
+{"uid":"3636856759179740919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown 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":"12844209337089953066.mp4"}
+{"uid":"11959880511432954865","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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","video":"6722353612045516847.mp4"}
+{"uid":"16754034853603299398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17402686009594549634.mp4"}
+{"uid":"6705986534737721393","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black pen in the holder to your right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8897675347767258651.mp4"}
+{"uid":"8515785535022936051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue chocolate in the rightmost 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":"3830835623960248040.mp4"}
+{"uid":"18404441830145269569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white sachets 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":"375508393689666571.mp4"}
+{"uid":"5783718428736545307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6366695283132831817.mp4"}
+{"uid":"3880513400132091071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the battery to charge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"249042298318006809.mp4"}
+{"uid":"1919286585932625601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm 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":"13386547531346282880.mp4"}
+{"uid":"1516747588080129362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"16259100547792784094.mp4"}
+{"uid":"12017199775669022193","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put red pen in the middle holder 5- put red pens in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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","video":"13837218213507126836.mp4"}
+{"uid":"8240922722107600293","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put red pen in the middle holder 7- put red pens in the middle holder 8- put red pen in the middle holder 9- put red pen in the middle holder 10- put red pen in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the holder to your left 16- put red pen in the holder to your left 17- put red pen in the holder to your left 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder to your left 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the holder to your 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:affordance:discriminative:discrete:True\u003e\nput red pen in the holder to your 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put red pen in the middle holder 7- put red pens in the middle holder 8- put red pen in the middle holder 9- put red pen in the middle holder 10- put red pen in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the holder to your left 16- put red pen in the holder to your left 17- put red pen in the holder to your left 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e","video":"8920678375826914615.mp4"}
+{"uid":"9364645826403813103","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put red pen in the middle holder 10- put red pens in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pen in the holder to your 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the holder to your 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put red pen in the middle holder 10- put red pens in the middle holder 11- put red pen in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the holder to your left 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder to your left 2- put red pen in the holder to your left 3- put red pen in the holder to your left 4- put red pen in the holder to your left 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e","video":"5106716855402807820.mp4"}
+{"uid":"3540889977456046761","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pen in the holder to your 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":"17443645276987856565.mp4"}
+{"uid":"7395614983336811453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13789186973081066893.mp4"}
+{"uid":"11780520070836133773","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"10069695697234354254.mp4"}
+{"uid":"783013220071412060","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle 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: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pen in the holder to your left 3- put red pen in the holder to your left 4- put red pen in the holder to your left 5- put red pen in the holder to your left\n\u003c/PRED\u003e","video":"445765893681019777.mp4"}
+{"uid":"6077636056200711320","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the middle 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the middle holder 2- put red pen in the middle holder 3- put red pen in the middle holder 4- put red pen in the middle holder 5- put red pen in the middle holder\n\u003c/PRED\u003e","video":"13384174129673185701.mp4"}
+{"uid":"3003183778019699054","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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:success:discrete:False\u003e\nput black pen in the holder to your 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: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right\n\u003c/PRED\u003e","video":"3950230244359683811.mp4"}
+{"uid":"12365614844470540687","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pens in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pens in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pens in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pens in the middle 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: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pens in the middle holder 2- put red pen in the middle holder 3- put red pen in the middle holder 4- put red pen in the middle holder 5- put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pens in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pens in the middle holder\n\u003c/PRED\u003e","video":"6531745924444228614.mp4"}
+{"uid":"10300812528377220108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two green sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8607315691044929514.mp4"}
+{"uid":"6526188628839354984","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder to your 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:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put red pen in the middle holder 4- put red pens in the middle holder 5- put red pen in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder to your right\n\u003c/PRED\u003e","video":"3870488275663384153.mp4"}
+{"uid":"11522705215577340294","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put red pen in the middle holder 11- put red pens in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder to your left 2- put red pen in the holder to your left 3- put red pen in the holder to your left 4- put red pen in the holder to your left 5- put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder to your right 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put red pen in the middle holder 11- put red pens in the middle holder 12- put red pen in the middle holder 13- put red pen in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the holder to your left 20- put red pen in the holder to your left Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the holder to your 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","video":"10664484589056579490.mp4"}
+{"uid":"3050736509190057159","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the middle holder 20- put red pen in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pen in the holder to your left 2- put red pen in the holder to your left 3- put red pen in the holder to your left 4- put red pen in the holder to your left 5- put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: origniaze the pens into the mesh containers. last 20 steps: 1- put black pen in the holder 2- put black pen in the holder to your right 3- put black pen in the holder to your right 4- put black pen in the holder to your right 5- put black pen in the holder to your right 6- put black pen in the holder to your right 7- put black pen in the holder to your right 8- put black pen in the holder to your right 9- put black pen in the holder to your right 10- put black pen in the holder to your right 11- put black pen in the holder to your right 12- put red pen in the middle holder 13- put red pens in the middle holder 14- put red pen in the middle holder 15- put red pen in the middle holder 16- put red pen in the middle holder 17- put red pen in the middle holder 18- put red pen in the middle holder 19- put red pen in the middle holder 20- put red pen in the middle holder Q: immediate next step? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pen in the holder to your left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pen in the holder to your 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:success:discrete:False\u003e\nput red pen in the holder to your 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","video":"11234770597850379186.mp4"}
+{"uid":"12425559602069392710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12157957129631421514.mp4"}
+{"uid":"12444142878681812172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7453739770870912395.mp4"}
+{"uid":"38854758119021491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pebble 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":"1444262175303891544.mp4"}
+{"uid":"2583544203118407600","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the pip corn packet on the table 4- Put the red packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"16311599330887319812.mp4"}
+{"uid":"295159444445393991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"15435301158250743534.mp4"}
+{"uid":"15641126192499106936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13243836565731182043.mp4"}
+{"uid":"7873865117375243524","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13564574644518228490.mp4"}
+{"uid":"17025583418579197013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the purple candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7518144717711761145.mp4"}
+{"uid":"7845145410631521382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in 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":"4978802822691090847.mp4"}
+{"uid":"13586687790339806332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow banana peel in the dust 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":"5520042687760689989.mp4"}
+{"uid":"6026860366808791779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18114613347624788855.mp4"}
+{"uid":"6597726950030227711","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"2699008928409174655.mp4"}
+{"uid":"12300991665721159547","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Put the nacho packet on the table 3- Put the pip corn packet on the table 4- Put the red packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8004272594927625128.mp4"}
+{"uid":"5272403901772266290","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"7177528050181529199.mp4"}
+{"uid":"3854993487207755747","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the red packet on the table 3- Put the pip corn packet on the table 4- Put the pip corn packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e","video":"13738797303002889352.mp4"}
+{"uid":"3132430823811143332","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Put the orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"13582496856262071727.mp4"}
+{"uid":"6569564280790556363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15146956158770466214.mp4"}
+{"uid":"2578783385251353835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2378848869546764857.mp4"}
+{"uid":"17759654807944497293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass on stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3108584279249076778.mp4"}
+{"uid":"14181322864763035662","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the pip corn packet on the table 3- Put the orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"3802389862691659181.mp4"}
+{"uid":"17628426381162965188","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Put the red packet on the table 3- Put the pip corn packet on the table 4- Put the pip corn packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"7554848637357350812.mp4"}
+{"uid":"2538113365288433599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2485640095748136999.mp4"}
+{"uid":"1546714323778539197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16509588523511994680.mp4"}
+{"uid":"14833719077036887043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12619935811760848771.mp4"}
+{"uid":"9694827709198854249","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table 6- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"1123113949882852151.mp4"}
+{"uid":"14001147049513020120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the first 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":"5426448742740165502.mp4"}
+{"uid":"12114886439552775320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14874364443739543600.mp4"}
+{"uid":"2484525819200393612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8230784971706671256.mp4"}
+{"uid":"14726276053117059617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove blue pen to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8292676922532911701.mp4"}
+{"uid":"7217629213872212584","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Put the pip corn packet on the table 3- Put the orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"10885103939611401864.mp4"}
+{"uid":"2359347910967151089","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12491438359668513209.mp4"}
+{"uid":"630012021150707307","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the pip corn packet on the table 3- Put the pip corn packet on the table 4- Put the orange packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"17490105601400843966.mp4"}
+{"uid":"5300851227606972274","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the pip corn packet on the table 3- Put the pip corn packet on the table 4- Put the orange packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\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\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"16462583040535243228.mp4"}
+{"uid":"12695107605770134996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid of the jar 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":"13104829494235923435.mp4"}
+{"uid":"13927096101996738954","text":"\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the red packet on the table 3- Put the pip corn packet on the table 4- Put the pip corn packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"10543148389029794711.mp4"}
+{"uid":"4008703018866826481","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the pip corn packet on the table 3- Put the orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"6756195076461789714.mp4"}
+{"uid":"11971343086077009178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11449591320831134441.mp4"}
+{"uid":"11081366176958596360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15469737911203392981.mp4"}
+{"uid":"15660498614469328340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15369650889640172695.mp4"}
+{"uid":"1123522054254840960","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- Put the nacho packet on the table 3- Put the pip corn packet on the table 4- Put the red packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17712827826873422793.mp4"}
+{"uid":"4891180739159484517","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- Put the pip corn packet on the table 3- Put the red packet on the table 4- Put the pip corn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"12033387883543111164.mp4"}
+{"uid":"13362911868143696122","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Put the pip corn packet on the table 3- Put the red packet on the table 4- Put the pip corn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the pip corn packet on the table 3- Put the red packet on the table 4- Put the pip corn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12653923219074848532.mp4"}
+{"uid":"9029823784982063261","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- Put the pip corn packet on the table 3- Put the pip corn packet on the table 4- Put the orange packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"6405915109426968359.mp4"}
+{"uid":"18012292044931038814","text":"\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table\n\u003c/PRED\u003e","video":"17321741487912512320.mp4"}
+{"uid":"15345882905482401937","text":"\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- put packet on table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the red packet on the table\n\u003c/PRED\u003e","video":"11453632351197280609.mp4"}
+{"uid":"10071045654500070320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the color candies in the bottom part of 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":"10279007957883839574.mp4"}
+{"uid":"7156443442397350639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17071023283704736429.mp4"}
+{"uid":"1163270311850578276","text":"\u003ctask:success:discrete:True\u003e\nPut the blue can on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue can on the white table\n\u003c/PRED\u003e","video":"4950572613008705405.mp4"}
+{"uid":"14902903528787775598","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Open the right drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the right drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box Q: immediate next step? \u003cPRED\u003eA: Open the right drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Open the right drawer 2- Pour the blocks on the table from the drawer 3- Move the box forward 4- Put the drawer in the box 5- Adjust the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10200972778699928146.mp4"}
+{"uid":"11083168859455908287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9730093885732999346.mp4"}
+{"uid":"2404866967824477403","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the ball shape block on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the ball shape block 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":"16595983570535484015.mp4"}
+{"uid":"13234308806890981004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"15197479702922947784.mp4"}
+{"uid":"328959368215251065","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPour the blocks on the table from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1347433794958317521.mp4"}
+{"uid":"1418385099053332899","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the white 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 distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the white table 2- Put the orange on the black table 3- Put the orange on the black table 4- Put the green can on the white table 5- Put the blue can on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e","video":"739168218980613295.mp4"}
+{"uid":"18354530485224447839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13151005546292897565.mp4"}
+{"uid":"11588867807387953385","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the drawer in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the drawer in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15678523028346588137.mp4"}
+{"uid":"4056088616407143001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5964465315134437402.mp4"}
+{"uid":"12570419550446550269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl on the stack of bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10567306920860313358.mp4"}
+{"uid":"17837087376130689266","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange on the black 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":"8027539143924282550.mp4"}
+{"uid":"7025238777602264681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11352477277923637354.mp4"}
+{"uid":"2404492745402383324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in left side 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":"12391867956139716846.mp4"}
+{"uid":"2564705253684849702","text":"\u003ctask:success:discrete:True\u003e\nPut the orange on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e","video":"3737152733383071494.mp4"}
+{"uid":"1857802304285206499","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the middle drawer in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the middle drawer in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9140484866269757578.mp4"}
+{"uid":"13339907171105095610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy in the white bowl from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14887501139301907002.mp4"}
+{"uid":"9141355045909840129","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the middle drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward Q: immediate next step? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward Q: next 5 steps? \u003cPRED\u003eA: 1- Open the middle drawer 2- Pour the blocks on the table from the drawer 3- Put the middle drawer in the box 4- Open the right drawer 5- Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the middle drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13468006039814493362.mp4"}
+{"uid":"11102210214065252145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl on the counter of the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3578613668376020226.mp4"}
+{"uid":"13131627680320695895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13567507337294955923.mp4"}
+{"uid":"4403695564394630251","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the seven up can on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the seven up can on the white 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":"13986360364160663051.mp4"}
+{"uid":"12477245903102514811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange on the black 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":"11481630938647109478.mp4"}
+{"uid":"13157762398479661885","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the ball shape block on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Put the ball shape block on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the ball shape block on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the ball shape block on the table 2- Close the drawer 3- Move the box forward 4- Open the middle drawer 5- Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer Q: immediate next step? \u003cPRED\u003eA: Put the ball shape block on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the ball shape block on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the ball shape block on the table\n\u003c/PRED\u003e","video":"12783826554689732646.mp4"}
+{"uid":"6385127612250078978","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Move the box forward 3- Open the middle drawer 4- Pour the blocks on the table from the drawer 5- Put the middle drawer in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"12386312691365115625.mp4"}
+{"uid":"13334667166891943922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the top drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6891940641784254311.mp4"}
+{"uid":"1649481868893725395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cups 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":"6925777886011822093.mp4"}
+{"uid":"6880375481316475670","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the middle drawer in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the middle drawer in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Put the middle drawer in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the middle drawer in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the middle drawer in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the middle drawer in the box 2- Open the right drawer 3- Pour the blocks on the table from the drawer 4- Move the box forward 5- Put the drawer in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer Q: immediate next step? \u003cPRED\u003eA: Put the middle drawer in the box\n\u003c/PRED\u003e","video":"9427640756527377354.mp4"}
+{"uid":"15816956272652280956","text":"\u003ctask:success:discrete:True\u003e\nPut the redbull can on the black  table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the redbull can on the black  table\n\u003c/PRED\u003e","video":"4664261175360019656.mp4"}
+{"uid":"11983477095548595924","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the white 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 distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the black table 5- Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the white 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":"10795551937809562555.mp4"}
+{"uid":"18150382492932179084","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the black 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 distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the black 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 distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the black table 2- Put the orange on the black table 3- Put the green can on the white table 4- Put the blue can on the white table 5- Put the redbull can on the black  table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e","video":"5393691725115687696.mp4"}
+{"uid":"16119413705765782790","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green can on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the green can on the white 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":"2528565519486647839.mp4"}
+{"uid":"9306725354553290668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange candy into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3681353316572991663.mp4"}
+{"uid":"16043770376310561782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky pad into the transparent 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":"7203533766272026743.mp4"}
+{"uid":"17929387067371140513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple 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":"11371663224229171566.mp4"}
+{"uid":"8817630019139319727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16665121708237109345.mp4"}
+{"uid":"16994780903972467601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the second glass and place it 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":"9159638061964315614.mp4"}
+{"uid":"4644488396940260677","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the blocks on the table from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour the blocks on the table from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the blocks on the table from the drawer 2- Put the middle drawer in the box 3- Open the right drawer 4- Pour the blocks on the table from the drawer 5- Move the box forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer Q: immediate next step? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e","video":"12353628597933138036.mp4"}
+{"uid":"10416656554154443392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12653636670150769344.mp4"}
+{"uid":"17469714741475516618","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the seven up can on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table 10- Put the redbull can on the white table Q: immediate next step? \u003cPRED\u003eA: Put the seven up can on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the seven up can on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the seven up can on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the seven up can on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the seven up can on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table 10- Put the redbull can on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the seven up can on the white table 2- Put the orange can on the black table 3- done\n\u003c/PRED\u003e","video":"16856766406327356562.mp4"}
+{"uid":"15543494085296239404","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the black  table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the black  table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull can on the black  table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the redbull can on the black  table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull can on the black  table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the redbull can on the black  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 distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the black  table 2- Put the redbull can on the white table 3- Put the seven up can on the white table 4- Put the orange can on the black table 5- done\n\u003c/PRED\u003e","video":"2884130029621204096.mp4"}
+{"uid":"4658238245394504750","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the redbull can on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the redbull can on the white 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":"1227596717731822470.mp4"}
+{"uid":"5151726390466985050","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table 10- Put the redbull can on the white table 11- Put the seven up can on the white table 12- Put the orange can on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange can on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table 10- Put the redbull can on the white table 11- Put the seven up can on the white table 12- Put the orange can on the black table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange can on the black 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":"15556176201114863084.mp4"}
+{"uid":"14862355762209751978","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the left drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Open the left drawer\n\u003c/PRED\u003e","video":"332008156861430585.mp4"}
+{"uid":"10577078459018322591","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange on the white 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":"5790635785090241589.mp4"}
+{"uid":"7393738198635351007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana on the white 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":"5424455192905857984.mp4"}
+{"uid":"9173792697334088899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the notepad 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":"12861687748238962060.mp4"}
+{"uid":"3685553924266160538","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the blocks on the table from the drawer 2- Move the box forward 3- Put the drawer in the box 4- Adjust the box 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer Q: immediate next step? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour the blocks on the table from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the blocks on the table from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"503495920746508518.mp4"}
+{"uid":"6348872909604167192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets 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":"15811993440959687093.mp4"}
+{"uid":"6522847053580111556","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange can on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange can on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange can on the black 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 distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table 10- Put the redbull can on the white table 11- Put the seven up can on the white table Q: immediate next step? \u003cPRED\u003eA: Put the orange can on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table 10- Put the redbull can on the white table 11- Put the seven up can on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange can on the black table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange can on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange can on the black table\n\u003c/PRED\u003e","video":"8344098035447733382.mp4"}
+{"uid":"21997852797481841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2000219247130857762.mp4"}
+{"uid":"1526256801219886823","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the box forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer Q: immediate next step? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the box forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the box forward 2- Put the drawer in the box 3- Adjust the box 4- done\n\u003c/PRED\u003e","video":"17861486677014721107.mp4"}
+{"uid":"17162876826562125173","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table Q: immediate next step? \u003cPRED\u003eA: Put the blue can on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue can on the white 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 distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue can on the white table 2- Put the redbull can on the black  table 3- Put the redbull can on the white table 4- Put the seven up can on the white table 5- Put the orange can on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the blue can on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue can on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue can on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue can on the white table\n\u003c/PRED\u003e","video":"3161763317302392415.mp4"}
+{"uid":"15182675107745859282","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the black 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 distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the black table 2- Put the green can on the white table 3- Put the blue can on the white table 4- Put the redbull can on the black  table 5- Put the redbull can on the white table\n\u003c/PRED\u003e","video":"4454304796427880261.mp4"}
+{"uid":"14721784809748412638","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange on the white 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":"8592661985990874081.mp4"}
+{"uid":"18362176629177150248","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green can on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green can on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table Q: immediate next step? \u003cPRED\u003eA: Put the green can on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the green can on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green can on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green can on the white 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 distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green can on the white table 2- Put the blue can on the white table 3- Put the redbull can on the black  table 4- Put the redbull can on the white table 5- Put the seven up can on the white table\n\u003c/PRED\u003e","video":"1683626602268258172.mp4"}
+{"uid":"14498695394381569810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8231427259425788451.mp4"}
+{"uid":"2821788134417657979","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":"2099488598780093349.mp4"}
+{"uid":"3127729728415568772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer 10- Move the box forward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the drawer in the box 2- Adjust the box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Put the drawer in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the drawer in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the drawer in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the drawer in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the drawer in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer 10- Move the box forward Q: immediate next step? \u003cPRED\u003eA: Put the drawer in the box\n\u003c/PRED\u003e","video":"9054570585104667938.mp4"}
+{"uid":"3669606124863587495","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the box forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the box forward 2- Open the middle drawer 3- Pour the blocks on the table from the drawer 4- Put the middle drawer in the box 5- Open the right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the box forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12258558137667399379.mp4"}
+{"uid":"4803447114692489732","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull can on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the white table 2- Put the seven up can on the white table 3- Put the orange can on the black table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the redbull can on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the redbull can on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull can on the white 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 distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table 3- Put the orange on the white table 4- Put the orange on the white table 5- Put the orange on the black table 6- Put the orange on the black table 7- Put the green can on the white table 8- Put the blue can on the white table 9- Put the redbull can on the black  table Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the white table\n\u003c/PRED\u003e","video":"6056573679642034790.mp4"}
+{"uid":"5115473151208896548","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: Adjust the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer 10- Move the box forward 11- Put the drawer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer 10- Move the box forward 11- Put the drawer in the box Q: immediate next step? \u003cPRED\u003eA: Adjust the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the box\n\u003c/PRED\u003e","video":"9035407179375362682.mp4"}
+{"uid":"14912967306569862358","text":"\u003ctask:success:discrete:True\u003e\nPour the blocks on the table from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pour the blocks on the table from the drawer\n\u003c/PRED\u003e","video":"2904650360168393775.mp4"}
+{"uid":"8959867280481000371","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the white table 2- Put the orange on the white table 3- Put the orange on the black table 4- Put the orange on the black table 5- Put the green can on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the drinks to tables in mk and then the fruits from the bowl. last 20 steps: 1- Put the banana on the white table 2- Put the orange on the white table Q: immediate next step? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange on the white 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":"9597674702714058133.mp4"}
+{"uid":"11110671939627075442","text":"\u003ctask:success:discrete:True\u003e\nAdjust the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer 10- Move the box forward 11- Put the drawer in the box 12- Adjust the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take out the items in each drawers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take out the items in each drawers . last 20 steps: 1- Open the left drawer 2- Put the ball shape block on the table 3- Close the drawer 4- Move the box forward 5- Open the middle drawer 6- Pour the blocks on the table from the drawer 7- Put the middle drawer in the box 8- Open the right drawer 9- Pour the blocks on the table from the drawer 10- Move the box forward 11- Put the drawer in the box 12- Adjust the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2600760563278133002.mp4"}
+{"uid":"7337723003341557757","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"13432196346489992892.mp4"}
+{"uid":"3451538237963090854","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13957666736111385701.mp4"}
+{"uid":"9561839536327642781","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"12913701872063488223.mp4"}
+{"uid":"4067089375646175872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12316014656487002673.mp4"}
+{"uid":"1350816669640915277","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10738544918518726061.mp4"}
+{"uid":"209749170530113140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16169228203814145188.mp4"}
+{"uid":"5429303904807386653","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- Put a banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"6691986773026316052.mp4"}
+{"uid":"14752447477856338076","text":"\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"6090833523201143227.mp4"}
+{"uid":"7189424990479718682","text":"\u003ctask:success:discrete:True\u003e\nPut a banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e","video":"3009374452962295458.mp4"}
+{"uid":"8351138050521382554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15698585769572246239.mp4"}
+{"uid":"2463813570209819959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15520024188177673610.mp4"}
+{"uid":"5056767497551019971","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl 6- put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl 6- put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9050886750692452475.mp4"}
+{"uid":"9798651958169096667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12397585540525208237.mp4"}
+{"uid":"2125475191344241224","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17373878913627404792.mp4"}
+{"uid":"12422754228236477433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack  a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16833813010471080672.mp4"}
+{"uid":"7876620653949051137","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Put a banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"16085432492627193649.mp4"}
+{"uid":"5807021493766645433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput Pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12193561377002627306.mp4"}
+{"uid":"2673378417761452134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7271049758861278104.mp4"}
+{"uid":"16961796023377766667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11977776246348140750.mp4"}
+{"uid":"4730441198547979417","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"8268849014014578142.mp4"}
+{"uid":"7013913222925524078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pista in coffee 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":"8298021795967913444.mp4"}
+{"uid":"4149360308211671728","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"5732349640712035478.mp4"}
+{"uid":"13559881213396563645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on a 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":"5109621046351193447.mp4"}
+{"uid":"10503145375561727339","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"1639684906048101500.mp4"}
+{"uid":"8912220944299895563","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the banana 2- Put the banana in the bowl 3- Put a banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e","video":"11558577050754177801.mp4"}
+{"uid":"5863855659977037206","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"2098227871715677662.mp4"}
+{"uid":"3003537430261536825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3309962887135224941.mp4"}
+{"uid":"3089464283396473013","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put a banana in the bowl 2- Pickup the banana 3- Put the banana in the bowl 4- Put a banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e","video":"16197345945154674031.mp4"}
+{"uid":"16283053961047471783","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e","video":"518092297738401932.mp4"}
+{"uid":"1295638191731816647","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Put the banana in the bowl 3- Put a banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the bowl 2- Pickup the banana 3- Put the banana in the bowl 4- Put a banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e","video":"5045933359413826521.mp4"}
+{"uid":"14865294777926543842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8514445969277865557.mp4"}
+{"uid":"3130930640690440404","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl 6- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl 6- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12923330666778489036.mp4"}
+{"uid":"15127326344403927710","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl 6- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl 6- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3419730258499789232.mp4"}
+{"uid":"10495815918776065665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"925553386187583956.mp4"}
+{"uid":"5003567838692019266","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"8678211093509738908.mp4"}
+{"uid":"7136997615039321533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3075056347707740353.mp4"}
+{"uid":"14527195465982082100","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":"14899553241691245015.mp4"}
+{"uid":"1629907984603594451","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- Put a banana in the bowl 3- Pickup the banana 4- Put the banana in the bowl 5- Put a banana in the bowl\n\u003c/PRED\u003e","video":"3261541011645678489.mp4"}
+{"uid":"16866431264984991299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white 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":"16069229030387975698.mp4"}
+{"uid":"17378324166122229497","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11775010469388785808.mp4"}
+{"uid":"5060628133503646365","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8478697637807483211.mp4"}
+{"uid":"6608135380524649257","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13390455928324032121.mp4"}
+{"uid":"10726242799289221753","text":"\u003ctask:success:discrete:True\u003e\nPut a banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e","video":"1660103039074629830.mp4"}
+{"uid":"8588806400049589388","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"3965416778119880389.mp4"}
+{"uid":"3858483054885469380","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":"5458420248259272784.mp4"}
+{"uid":"13331131149980077239","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"2591246606330354909.mp4"}
+{"uid":"13052686789130268142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knives 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":"1756740483960176802.mp4"}
+{"uid":"9696979154678642228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10985703894927696723.mp4"}
+{"uid":"7185528981762651039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6749301343151473458.mp4"}
+{"uid":"5491664939994142234","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14485838805794070468.mp4"}
+{"uid":"7556187025367759525","text":"\u003ctask:success:discrete:True\u003e\nPickup the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the banana\n\u003c/PRED\u003e","video":"15962530330629569722.mp4"}
+{"uid":"16659942708691230696","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"235077779973913292.mp4"}
+{"uid":"13547402608889880981","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3473092217421055224.mp4"}
+{"uid":"1166686528032153143","text":"\u003ctask:success:discrete:True\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e","video":"11517143322063790227.mp4"}
+{"uid":"9416978759679878915","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket 8- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket 8- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- done\n\u003c/PRED\u003e","video":"9563938371979073484.mp4"}
+{"uid":"5150439207486683894","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Pickup the banana 3- Put the banana in the bowl 4- Put a banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"5732965804173429907.mp4"}
+{"uid":"10978387659110476560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11056878959312805878.mp4"}
+{"uid":"725655086566104552","text":"\u003ctask:success:discrete:True\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e","video":"14120178505244383764.mp4"}
+{"uid":"13227022853557985853","text":"\u003ctask:success:discrete:True\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"14794577076893722979.mp4"}
+{"uid":"9681841808037084831","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put a banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Put a banana in the bowl 4- Pickup the banana 5- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e","video":"2626410701204302880.mp4"}
+{"uid":"11087770620903385052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8448132607077903007.mp4"}
+{"uid":"4127131188901243779","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put a banana in the bowl 2- Put a banana in the bowl 3- Pickup the banana 4- Put the banana in the bowl 5- Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. last 20 steps: 1- Put a banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the fruit bowl with bananas. Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e","video":"2172078156167985850.mp4"}
+{"uid":"10280283983106697508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18339874131469374070.mp4"}
+{"uid":"10734387500623450643","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a 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: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put two red pens in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e","video":"8436815381838230379.mp4"}
+{"uid":"3152048260399841550","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pens on the desk\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pens on the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put pens on the desk\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pens on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pens on the desk 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pens on the desk\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pens on the desk\n\u003c/PRED\u003e","video":"8022005051800793059.mp4"}
+{"uid":"10884706381914342769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10279786880969196605.mp4"}
+{"uid":"7746520721236523665","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour the pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pour the pens on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: pour the pens on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the pens on the table\n\u003c/PRED\u003e","video":"13896012696608412450.mp4"}
+{"uid":"11402649197377459775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15151361553660411806.mp4"}
+{"uid":"13696011900520303325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in 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":"11064602677300002584.mp4"}
+{"uid":"14261821950695089443","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10012281377979980144.mp4"}
+{"uid":"8162474345623653810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11714892767400390706.mp4"}
+{"uid":"8514105113746771423","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table Q: immediate next step? \u003cPRED\u003eA: place the holder on the desk\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder on the desk\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the holder on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the holder on the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder on the desk 2- place the red pen in the holder 3- place the red pen in the holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place the holder on the desk\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the holder on the desk\n\u003c/PRED\u003e","video":"5358806427957336849.mp4"}
+{"uid":"17678020870491979139","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3037337009940371485.mp4"}
+{"uid":"10880374032732653893","text":"\u003ctask:success:discrete:False\u003e\nplace pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pens in the holder 2- done\n\u003c/PRED\u003e","video":"14655991446873225613.mp4"}
+{"uid":"4436363494738677795","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput two red pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two red pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put two red pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two red pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two red pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put two red pens in the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put two red pens in the holder\n\u003c/PRED\u003e","video":"14459646097622430615.mp4"}
+{"uid":"1167515296241351037","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4625402882992326324.mp4"}
+{"uid":"12212529155262843883","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7132237148106727815.mp4"}
+{"uid":"14819414991018743712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon 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":"1853673891150036455.mp4"}
+{"uid":"10459219186940232619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in the another 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":"6790662970123526165.mp4"}
+{"uid":"16797296966898091789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the green bag to a hook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10951992117815708309.mp4"}
+{"uid":"8670482451767532724","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":"16462987592101695311.mp4"}
+{"uid":"7486443219799987217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7529118671725000982.mp4"}
+{"uid":"2239691201193367336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pens in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder 11- put orange pens in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange pens in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder 11- put orange pens in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2954643612005119903.mp4"}
+{"uid":"17214322777894112678","text":"\u003ctask:success:discrete:True\u003e\nplace a 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: place a pen in the holder\n\u003c/PRED\u003e","video":"3291354110662199268.mp4"}
+{"uid":"13187056248552742628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6292014696414472993.mp4"}
+{"uid":"13224245423894190321","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put two red pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1526202030959636234.mp4"}
+{"uid":"15554341793299479927","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"7524244878714105885.mp4"}
+{"uid":"284286928122968045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1058424654315172216.mp4"}
+{"uid":"8573118601105411800","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- put two red pens in the holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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: place a pen in the holder\n\u003c/PRED\u003e","video":"8892429858048704817.mp4"}
+{"uid":"13085975218067079124","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the another holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put two red pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the another holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the another 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":"9936202986678479858.mp4"}
+{"uid":"10808550715301932255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5872542514150152252.mp4"}
+{"uid":"2568361069727090607","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9997442495798018771.mp4"}
+{"uid":"16178453475854754371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17407364516405057233.mp4"}
+{"uid":"8260036386849820750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15578977161804370137.mp4"}
+{"uid":"12552873146376360699","text":"\u003ctask:success:discrete:True\u003e\nplace the holder on the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the holder on the desk\n\u003c/PRED\u003e","video":"9021497891851926232.mp4"}
+{"uid":"8360397296714395732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10511422044957503414.mp4"}
+{"uid":"2844056780722890013","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a 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: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9446566490911917441.mp4"}
+{"uid":"12253123620150412001","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the another holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e","video":"14533642488253440303.mp4"}
+{"uid":"13727846158580889957","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder 11- put two red pens in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput two red pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder 11- put two red pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two red pens in the holder\n\u003c/PRED\u003e","video":"6411278307511081616.mp4"}
+{"uid":"15453168544989040047","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the another holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e","video":"7954520256787799830.mp4"}
+{"uid":"15397965797885073736","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put blue pen in the another holder 3- put two red pens in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"141986202867902987.mp4"}
+{"uid":"6511675732262338197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blacks marker on the board slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13206973450272857332.mp4"}
+{"uid":"15248216378747214919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5086771241628873675.mp4"}
+{"uid":"258185952119449193","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen in the holder 2- place the red pen in the holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e","video":"11975690297593988268.mp4"}
+{"uid":"12606264855958644756","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- empty the holder 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nempty 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: empty the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nempty 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: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: empty the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: empty the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: empty the holder\n\u003c/PRED\u003e","video":"17169073919128341322.mp4"}
+{"uid":"9259561596428515639","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour the pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16441915354814253125.mp4"}
+{"uid":"13877289588120086297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16364290633021212823.mp4"}
+{"uid":"315234007392743862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6000306948397417151.mp4"}
+{"uid":"8428277470006288238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch the Owen handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17574611455848610390.mp4"}
+{"uid":"39626028159813838","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- place the red pen in the holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a 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: place a pen in the holder\n\u003c/PRED\u003e","video":"13392498518621152072.mp4"}
+{"uid":"8889708900048322339","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4340394511969283263.mp4"}
+{"uid":"9693094118761284266","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the another holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e","video":"15648460123410711199.mp4"}
+{"uid":"786846594040465331","text":"\u003ctask:success:discrete:True\u003e\nplace pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder 11- place pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder 11- place pens in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2704083596173276298.mp4"}
+{"uid":"1416423703269801147","text":"\u003ctask:success:discrete:True\u003e\nput pens on the desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pens on the desk\n\u003c/PRED\u003e","video":"13825231493519715392.mp4"}
+{"uid":"15426029154753753854","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"8185143924778357834.mp4"}
+{"uid":"2922892775466619592","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":"6866739124359878988.mp4"}
+{"uid":"1297680131459176137","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pens in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pens in the stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pens in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put orange pens in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pens in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pens in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder 10- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put orange pens in the stand\n\u003c/PRED\u003e","video":"17622082216745069733.mp4"}
+{"uid":"8655096619488969149","text":"\u003ctask:success:discrete:True\u003e\nplace the red 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: place the red pen in the holder\n\u003c/PRED\u003e","video":"2520178686045913145.mp4"}
+{"uid":"2940178487112327925","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":"8512009225185205457.mp4"}
+{"uid":"11962441661311869122","text":"\u003ctask:success:discrete:True\u003e\nplace the red 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: place the red pen in the holder\n\u003c/PRED\u003e","video":"482497442427230807.mp4"}
+{"uid":"117687332090660934","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a 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: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e","video":"4525692857652198947.mp4"}
+{"uid":"3946383600706283424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a brown packet on the chest of drawers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"44266457524442165.mp4"}
+{"uid":"14532630296372184080","text":"\u003ctask:success:discrete:False\u003e\nput blue pen in the another holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the another holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the another 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: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e","video":"5416319373113345998.mp4"}
+{"uid":"7622886291789051751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8439829167842252847.mp4"}
+{"uid":"8410205207715771500","text":"\u003ctask:success:discrete:True\u003e\nplace the holder upside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 holder upside\n\u003c/PRED\u003e","video":"11626322028141895331.mp4"}
+{"uid":"8973333727265315890","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11934378271162896845.mp4"}
+{"uid":"18046364419621537668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cap 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":"8551611413485753993.mp4"}
+{"uid":"994340571801538167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"407044100105023855.mp4"}
+{"uid":"2542382228856857368","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the another holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put two red pens in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the another holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e","video":"3830059294686521367.mp4"}
+{"uid":"13389859950723875715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7720716330141933347.mp4"}
+{"uid":"279749438558921293","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside Q: immediate next step? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen in the holder 2- place the red pen in the holder 3- place the red pen in the holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e","video":"4230778935709777668.mp4"}
+{"uid":"15395873380495674544","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a 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: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put two red pens in the holder\n\u003c/PRED\u003e","video":"9172037172638442635.mp4"}
+{"uid":"17939779583289577573","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1882914902005385653.mp4"}
+{"uid":"1837681368687208014","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen in the holder 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the red pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9115932852404727080.mp4"}
+{"uid":"2893113721552336949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: empty the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nempty 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":"17142756909637736725.mp4"}
+{"uid":"3830506953706045313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6334669517255238662.mp4"}
+{"uid":"17006120435795804743","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- put two red pens in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e","video":"2020864983732056104.mp4"}
+{"uid":"8325633013657127694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho 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":"17651106984852649947.mp4"}
+{"uid":"3453353267226940219","text":"\u003ctask:success:discrete:False\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- place the red pen in the holder 3- put blue pen in the another holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"7210861868226871586.mp4"}
+{"uid":"13652169108858265691","text":"\u003ctask:success:discrete:True\u003e\nplace a 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: place a pen in the holder\n\u003c/PRED\u003e","video":"12796083625993535267.mp4"}
+{"uid":"12808187960258118716","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the another holder 2- put blue pen in the another holder 3- put two red pens in the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the another 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":"1291243476342365194.mp4"}
+{"uid":"8700226107749454584","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- place the red pen in the holder 3- place the red pen in the holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"16758446837501260966.mp4"}
+{"uid":"13885069868208783327","text":"\u003ctask:success:discrete:False\u003e\nplace the holder upside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place the holder upside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the holder upside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the holder upside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the holder upside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the holder upside 2- place the red pen in the holder 3- place the red pen in the holder 4- place the red pen in the holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table Q: immediate next step? \u003cPRED\u003eA: place the holder upside\n\u003c/PRED\u003e","video":"12299501978962621075.mp4"}
+{"uid":"9073170793906863512","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put blue pen in the another holder 3- put blue pen in the another holder 4- put two red pens in the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"7068989735319903853.mp4"}
+{"uid":"17013876637750255939","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put two red pens in the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"9277323638465121240.mp4"}
+{"uid":"11626614498265140538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8098222532947443461.mp4"}
+{"uid":"12859877830672019612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8917163138528370254.mp4"}
+{"uid":"14144934589111824940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2504667926466313212.mp4"}
+{"uid":"18351995014951188155","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in the holder 2- place the red pen in the holder 3- place the red pen in the holder 4- put blue pen in the another holder 5- put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a 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: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in the holder\n\u003c/PRED\u003e","video":"13110675995361677588.mp4"}
+{"uid":"10562872839258718211","text":"\u003ctask:success:discrete:True\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"10879456429078143619.mp4"}
+{"uid":"1212961790118285672","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the another 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: separate the red and blue pens in different containers. last 20 steps: 1- pour the pens on the table 2- place the holder upside 3- place the red pen in the holder 4- place the red pen in the holder 5- place the red pen in the holder 6- put blue pen in the another holder 7- put blue pen in the another holder 8- put blue pen in the another holder 9- put blue pen in the another holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the another holder 2- put two red pens in the holder 3- done\n\u003c/PRED\u003e","video":"8704197685633987310.mp4"}
+{"uid":"13473705656208133100","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in the another holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in the another holder\n\u003c/PRED\u003e","video":"17027409777470329783.mp4"}
+{"uid":"16038981801659290090","text":"\u003ctask:success:discrete:True\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"15952623630976294692.mp4"}
+{"uid":"15647193113479898485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16966213933890620067.mp4"}
+{"uid":"13727969290937541316","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow marker in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow marker in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13461071832873569119.mp4"}
+{"uid":"7216236703770965693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11655176356520455902.mp4"}
+{"uid":"2837740695003383494","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- close the draw 2- open the draw 3- place the marker into draw 4- Close the left door of the almirah 5- Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: immediate next step? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e","video":"4436888271599608442.mp4"}
+{"uid":"7751787298460397418","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- open the draw 2- place the marker into draw 3- Put the yellow colored tube in the tray kept in the almirah 4- Put the blue colored tube in the almirah 5- Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: immediate next step? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e","video":"1932480199003583895.mp4"}
+{"uid":"12522484249791963718","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sticky note in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6719704899407654321.mp4"}
+{"uid":"687698081037841590","text":"\u003ctask:success:discrete:True\u003e\nplace the sizer into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sizer into rack\n\u003c/PRED\u003e","video":"2404126735220272445.mp4"}
+{"uid":"11618849860505946303","text":"\u003ctask:success:discrete:True\u003e\nplace the marker into draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e","video":"10670510248324967011.mp4"}
+{"uid":"199434991756486645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6459728021021965802.mp4"}
+{"uid":"11965954912133917526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: immediate next step? \u003cPRED\u003eA: place the marker into rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker into rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into rack 2- place the marker into draw 3- Put the yellow colored tube in the tray kept in the almirah 4- Put the blue colored tube in the almirah 5- Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the marker into rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker into rack\n\u003c/PRED\u003e","video":"14996197108938276427.mp4"}
+{"uid":"11881602848821090227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16130904346095813054.mp4"}
+{"uid":"7404592638974715442","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sizer into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sizer into rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack Q: immediate next step? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack Q: next 5 steps? \u003cPRED\u003eA: 1- place the sizer into rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the sticky notes in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e","video":"4269266919586342809.mp4"}
+{"uid":"10803370749858367524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3693052143665140167.mp4"}
+{"uid":"12285960586888589911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet 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":"11063179681022172372.mp4"}
+{"uid":"9432706624128081051","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13281962847449171174.mp4"}
+{"uid":"9198908483461679785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9616563391266348786.mp4"}
+{"uid":"16760200595409484658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the purple candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18360153651169249212.mp4"}
+{"uid":"15193310954796424316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky note into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12388153472497082349.mp4"}
+{"uid":"16783345544793676040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14286259349130786676.mp4"}
+{"uid":"4849286505225387784","text":"\u003ctask:success:discrete:True\u003e\nput the sticky note in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e","video":"1878133847992905594.mp4"}
+{"uid":"1844573146709990114","text":"\u003ctask:success:discrete:True\u003e\nput the yellow marker in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e","video":"7417405756178462587.mp4"}
+{"uid":"7954639808210110213","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the cupboard 2- Put the sticky notes in the almirah 3- Put the yellow colored tube in the almirah 4- place the marker into draw 5- Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e","video":"12026736327784805593.mp4"}
+{"uid":"15168070852026801830","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the cupboard 2- Put the yellow colored tube in the almirah 3- place the marker into draw 4- Put the yellow colored tube in the tray kept in the almirah 5- Put the blue colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the cupboard\n\u003c/PRED\u003e","video":"3247848028597598872.mp4"}
+{"uid":"17933962602567712690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"806763115437036900.mp4"}
+{"uid":"3221351014876478317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"4977836622213857846.mp4"}
+{"uid":"7516675397227707050","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the organizer 2- Close the left door of the almirah 3- Close the right door of the almirah 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the organizer\n\u003c/PRED\u003e","video":"9125003203851011132.mp4"}
+{"uid":"15554322561843685408","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scissors packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scissors packet in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the scissors packet in the cupboard 2- Put the sticky notes in the almirah 3- Put the sticky notes in the almirah 4- Put the yellow colored tube in the almirah 5- place the marker into draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e","video":"10259341607447642091.mp4"}
+{"uid":"1086282153341882733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4013707148963736766.mp4"}
+{"uid":"6155633545294251302","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the left door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the left door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13726445747418921819.mp4"}
+{"uid":"2366529350010384266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange blue 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":"6908007887424991232.mp4"}
+{"uid":"17025732761972058904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolates 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":"4331991542082676896.mp4"}
+{"uid":"5127215890842390658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17762473064953398326.mp4"}
+{"uid":"14527145328457499273","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker into draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into draw 2- Put the blue colored tube in the almirah 3- Put the packet in the almirah 4- close the draw 5- open the draw\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw Q: immediate next step? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker into draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e","video":"15354240153319283245.mp4"}
+{"uid":"2139602030744511643","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah Q: immediate next step? \u003cPRED\u003eA: place the stick note into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the stick note into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the stick note into rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the stick note into rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the stick note into rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the stick note into rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place the stick note into rack 2- Put the yellow colored tube in the almirah 3- place the marker into draw 4- Put the yellow colored tube in the tray kept in the almirah 5- Put the blue colored tube in the almirah\n\u003c/PRED\u003e","video":"16466124537076699654.mp4"}
+{"uid":"14982271213901484198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace coffee 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":"12545630938962335290.mp4"}
+{"uid":"5998463728370038465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange cable into 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":"15400107824151467906.mp4"}
+{"uid":"841320922055573795","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the led packet in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the led packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the led packet in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: immediate next step? \u003cPRED\u003eA: put the led packet in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the led packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the led packet in the cupboard 2- close the draw 3- open the draw 4- place the marker into draw 5- Close the left door of the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the led packet in the cupboard\n\u003c/PRED\u003e","video":"7338339151873288120.mp4"}
+{"uid":"17628247997130567024","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right door of the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the right door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the right door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the right door of the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the right door of the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the right door of the almirah 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e","video":"3644886803425902259.mp4"}
+{"uid":"7127467065755306079","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the right door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: immediate next step? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: next 5 steps? \u003cPRED\u003eA: 1- close the right door 2- Close the right door of the almirah 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e","video":"5706785447148062768.mp4"}
+{"uid":"5394937668563793403","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the led packet in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the led packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9904920594616415174.mp4"}
+{"uid":"4049351872816463437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9421474227588549977.mp4"}
+{"uid":"11982420124948838263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5121586657204764432.mp4"}
+{"uid":"16214228458048493754","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: move the yellow marker toward the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the yellow marker toward the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the yellow marker toward the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move the yellow marker toward the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- move the yellow marker toward the table 2- Put the sticky notes in the almirah 3- Put the yellow colored tube in the almirah 4- place the marker into draw 5- Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the yellow marker toward 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\nmove the yellow marker toward 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":"12984922482427200308.mp4"}
+{"uid":"810850887731404249","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow colored tube in the almirah 2- place the marker into draw 3- Put the yellow colored tube in the tray kept in the almirah 4- Put the blue colored tube in the almirah 5- Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the yellow colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: immediate next step? \u003cPRED\u003eA: Put the yellow colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow colored tube in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow colored tube in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5145273720111534453.mp4"}
+{"uid":"14438210507262149023","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the scissors packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6268791814044278923.mp4"}
+{"uid":"8356004778255602498","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the packet into rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: immediate next step? \u003cPRED\u003eA: place the packet into rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into rack 2- close the draw 3- open the draw 4- place the marker into draw 5- Close the left door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into rack\n\u003c/PRED\u003e","video":"4070255767038233695.mp4"}
+{"uid":"13044176974737723943","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scissors in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scissors in the almirah 2- Put the scissors in the almirah 3- Put the sticky notes in the almirah 4- Put the sticky notes in the almirah 5- Put the yellow colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e","video":"9565476883283956611.mp4"}
+{"uid":"13033341958743404119","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the scissors in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1611603098624244533.mp4"}
+{"uid":"9075904234371567740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah 16- close the left door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah 16- close the left door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e","video":"6485250985438921359.mp4"}
+{"uid":"1297846748106176683","text":"\u003ctask:success:discrete:True\u003e\nPut the sticky notes in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e","video":"13959308306549592247.mp4"}
+{"uid":"18396995425984805664","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the left door of the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: next 5 steps? \u003cPRED\u003eA: 1- Close the left door of the almirah 2- Close the right door of the almirah 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the left door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the left door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the left door of the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the left door of the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: immediate next step? \u003cPRED\u003eA: Close the left door of the almirah\n\u003c/PRED\u003e","video":"1747601078956583683.mp4"}
+{"uid":"13316641189775440758","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack Q: immediate next step? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scissors in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scissors in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scissors in the almirah 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the sticky notes in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e","video":"9985475178483562957.mp4"}
+{"uid":"5031017290957622620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cups 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":"4617891271547099977.mp4"}
+{"uid":"8709573661064116004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8982540421463801334.mp4"}
+{"uid":"6171990171304222298","text":"\u003ctask:success:discrete:True\u003e\nPut the scissors in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e","video":"3679240334465279744.mp4"}
+{"uid":"8729424702406993670","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the right door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the right door of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the right door of the cupboard 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e","video":"10354748104611725415.mp4"}
+{"uid":"2117046328539133497","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the yellow maker organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the yellow maker organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the yellow maker organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah Q: immediate next step? \u003cPRED\u003eA: close the yellow maker organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- close the yellow maker organizer 2- open the draw 3- place the marker into draw 4- Close the left door of the almirah 5- Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the yellow maker organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the yellow maker organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14330163821451078550.mp4"}
+{"uid":"7435932973303368642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cartoon 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":"14543679655325213454.mp4"}
+{"uid":"15551778655370688017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17602314375445740550.mp4"}
+{"uid":"11137046130676031465","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sticky notes in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the almirah 2- Put the sticky notes in the almirah 3- Put the yellow colored tube in the almirah 4- place the marker into draw 5- Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e","video":"1729932126735669579.mp4"}
+{"uid":"4799995421060458888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up two packets from floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16790388513740502380.mp4"}
+{"uid":"2009376121412284388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14053827999781799594.mp4"}
+{"uid":"8308064308745353321","text":"\u003ctask:success:discrete:True\u003e\nput the scissors packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e","video":"14031384759487353254.mp4"}
+{"uid":"17887531455754677178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the paper inside 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":"11321662229127827372.mp4"}
+{"uid":"17019212298468643765","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Push the tray inside 2- open the draw 3- place the marker into draw 4- Close the left door of the almirah 5- Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah Q: immediate next step? \u003cPRED\u003eA: Push the tray inside\n\u003c/PRED\u003e","video":"17991063591333425909.mp4"}
+{"uid":"6629967020089172946","text":"\u003ctask:success:discrete:True\u003e\nClose the left door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the left door of the almirah\n\u003c/PRED\u003e","video":"2368245888684987786.mp4"}
+{"uid":"13564833102483875968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4819169785951466832.mp4"}
+{"uid":"14415744446224055123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14121037647800839443.mp4"}
+{"uid":"1987971146961806879","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Close the right door of the almirah 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah Q: immediate next step? \u003cPRED\u003eA: Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the right door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the right door of the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7712939027587896126.mp4"}
+{"uid":"17636582578498014490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange cable from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"576604552852187864.mp4"}
+{"uid":"8370251872747153554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana from the table on the large baby pink 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":"17590560436967943136.mp4"}
+{"uid":"1090774874489637881","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the mark into rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place the mark into rack 2- Put the packet in the almirah 3- close the draw 4- open the draw 5- place the marker into draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the mark into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the mark into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the mark into rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the mark into rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah Q: immediate next step? \u003cPRED\u003eA: place the mark into rack\n\u003c/PRED\u003e","video":"12678801279011054093.mp4"}
+{"uid":"4654484431358452441","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the cupboard 2- Put the packet in the almirah 3- close the draw 4- open the draw 5- place the marker into draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the cupboard\n\u003c/PRED\u003e","video":"12658120877140504511.mp4"}
+{"uid":"17220290082366803744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9599785469597391686.mp4"}
+{"uid":"5131745616678870295","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker in the organizer 2- Put the yellow colored tube in the tray kept in the almirah 3- Put the blue colored tube in the almirah 4- Put the packet in the almirah 5- close the draw\n\u003c/PRED\u003e","video":"11885070265281188184.mp4"}
+{"uid":"17445815368399322285","text":"\u003ctask:success:discrete:True\u003e\nPut the tube in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tube in the tray\n\u003c/PRED\u003e","video":"963094211888344381.mp4"}
+{"uid":"7608215875895244730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the stick note into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the stick note into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4294255585985289004.mp4"}
+{"uid":"14843014055666040806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13871099646093271574.mp4"}
+{"uid":"5999021677499709948","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: next 5 steps? \u003cPRED\u003eA: 1- close the draw 2- Close the right door of the almirah 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: immediate next step? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4343612971226935356.mp4"}
+{"uid":"2484702528535517644","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker in the cupboard 2- place the marker into draw 3- Put the yellow colored tube in the tray kept in the almirah 4- Put the blue colored tube in the almirah 5- Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17415523117331603112.mp4"}
+{"uid":"6775941946916846943","text":"\u003ctask:success:discrete:True\u003e\nplace the mark into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 mark into rack\n\u003c/PRED\u003e","video":"8528123134019754518.mp4"}
+{"uid":"9375474696041710575","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4964453489393474526.mp4"}
+{"uid":"12840433186144175297","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the almirah 2- open the draw 3- place the marker into draw 4- Close the left door of the almirah 5- Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah Q: immediate next step? \u003cPRED\u003eA: Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the packet in the almirah\n\u003c/PRED\u003e","video":"6927639631287084473.mp4"}
+{"uid":"3752916854201460518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9985099328985855193.mp4"}
+{"uid":"15840326062254555350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the fork in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11665550200510337713.mp4"}
+{"uid":"12472636313330599407","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah 16- Close the right door of the almirah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah 16- Close the right door of the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the right door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the right door of the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4845885240153673962.mp4"}
+{"uid":"37798983578868348","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":"4473209271774524834.mp4"}
+{"uid":"2008207944706792990","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sticky notes in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10462741632542935954.mp4"}
+{"uid":"2344912862176778323","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the right door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the right door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17324200611726384930.mp4"}
+{"uid":"14097339292740651044","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: immediate next step? \u003cPRED\u003eA: close the blue marker organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the blue marker organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the blue marker organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the blue marker organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the blue marker organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw Q: next 5 steps? \u003cPRED\u003eA: 1- close the blue marker organizer 2- Close the right door of the almirah 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the blue marker organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5743550000513134666.mp4"}
+{"uid":"11945217698081705990","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue colored tube in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue colored tube in the almirah 2- Put the packet in the almirah 3- close the draw 4- open the draw 5- place the marker into draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue colored tube in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah Q: immediate next step? \u003cPRED\u003eA: Put the blue colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue colored tube in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the blue colored tube in the almirah\n\u003c/PRED\u003e","video":"8667774284723803411.mp4"}
+{"uid":"14589373785323624589","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace stick note into the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place stick note into the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place stick note into the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: place stick note into the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace stick note into the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place stick note into the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place stick note into the rack 2- Put the sticky notes in the almirah 3- Put the yellow colored tube in the almirah 4- place the marker into draw 5- Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e","video":"173612650759639799.mp4"}
+{"uid":"12904156866504432062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5224478716455269490.mp4"}
+{"uid":"5495564864150732682","text":"\u003ctask:success:discrete:False\u003e\nput the scissors packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scissors packet in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- put the scissors packet in the cupboard 2- Put the scissors in the almirah 3- Put the sticky notes in the almirah 4- Put the sticky notes in the almirah 5- Put the yellow colored tube in the almirah\n\u003c/PRED\u003e","video":"11668365195459407213.mp4"}
+{"uid":"17373630281617394121","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the left door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the left door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the left door of the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the left door of the almirah 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the left door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the left door of the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the left door of the almirah\n\u003c/PRED\u003e","video":"8773460337387566270.mp4"}
+{"uid":"1022406397184862565","text":"\u003ctask:success:discrete:True\u003e\nOpen the left door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the left door of the cupboard\n\u003c/PRED\u003e","video":"18399229086389190215.mp4"}
+{"uid":"9182793426007254707","text":"\u003ctask:success:discrete:True\u003e\nPut the blue colored tube in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue colored tube in the almirah\n\u003c/PRED\u003e","video":"11530431582219241790.mp4"}
+{"uid":"5996327909003556588","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scissors in the almirah 2- Put the sticky notes in the almirah 3- Put the sticky notes in the almirah 4- Put the yellow colored tube in the almirah 5- place the marker into draw\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scissors in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3756311607718685183.mp4"}
+{"uid":"5519483311707356417","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker in the organizer 2- Put the blue colored tube in the almirah 3- Put the packet in the almirah 4- close the draw 5- open the draw\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11236377903649961088.mp4"}
+{"uid":"13550941539390928090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet into 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":"5714223450452815229.mp4"}
+{"uid":"9923934514656858861","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tube in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tube in the tray 2- Close the right door of the almirah 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw Q: immediate next step? \u003cPRED\u003eA: Put the tube in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tube in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tube in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tube in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the tube in the tray\n\u003c/PRED\u003e","video":"12322526196225700357.mp4"}
+{"uid":"13001566619632400983","text":"\u003ctask:success:discrete:True\u003e\nPut the scissors in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sizer into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sizer into rack\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the scissors in the almirah\n\u003c/PRED\u003e","video":"7202878852169963440.mp4"}
+{"uid":"467702858244345200","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scissors packet in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scissors packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack Q: immediate next step? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the scissors packet in the cupboard 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the sticky notes in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e","video":"17121796865194999758.mp4"}
+{"uid":"17596090063240510579","text":"\u003ctask:success:discrete:True\u003e\nplace stick note into the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 stick note into the rack\n\u003c/PRED\u003e","video":"17494239002362778729.mp4"}
+{"uid":"13504145847415050066","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the marker into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15167251821733751639.mp4"}
+{"uid":"8500970482765279628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in 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":"947808703377341760.mp4"}
+{"uid":"15450281051954661611","text":"\u003ctask:success:discrete:True\u003e\nput the scissors packet in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scissors packet in the cupboard\n\u003c/PRED\u003e","video":"9241667718316988162.mp4"}
+{"uid":"1089894746776949716","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":"11271202070167744892.mp4"}
+{"uid":"6954673810108329689","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the left door of the cupboard 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the left door of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the left door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16351203144937029820.mp4"}
+{"uid":"11832812898496590262","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow colored tube in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow colored tube in the almirah\n\u003c/PRED\u003e","video":"7271803974913547410.mp4"}
+{"uid":"11354894664882646041","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the almirah 2- Put the yellow colored tube in the almirah 3- place the marker into draw 4- Put the yellow colored tube in the tray kept in the almirah 5- Put the blue colored tube in the almirah\n\u003c/PRED\u003e","video":"13848373955264019963.mp4"}
+{"uid":"1394216277083140756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13306874933507171527.mp4"}
+{"uid":"7313982135372383012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the left houseplant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5410132047876159976.mp4"}
+{"uid":"4706921392809786022","text":"\u003ctask:success:discrete:False\u003e\nopen rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open rack\n\u003c/PRED\u003e","video":"3790623855379648800.mp4"}
+{"uid":"16744355293366777386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14064728950537304899.mp4"}
+{"uid":"10475818701949601984","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into draw 2- Put the yellow colored tube in the tray kept in the almirah 3- Put the blue colored tube in the almirah 4- Put the packet in the almirah 5- close the draw\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah Q: immediate next step? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker into draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 into draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker into draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1933284839709685631.mp4"}
+{"uid":"10282507948809331895","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah Q: immediate next step? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sizer into rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the sizer into rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sizer into rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place the sizer into rack 2- Put the scissors in the almirah 3- Put the sticky notes in the almirah 4- Put the sticky notes in the almirah 5- Put the yellow colored tube in the almirah\n\u003c/PRED\u003e","video":"5115359146893038229.mp4"}
+{"uid":"2419774627036159138","text":"\u003ctask:success:discrete:True\u003e\nopen rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open rack\n\u003c/PRED\u003e","video":"16526926281146707833.mp4"}
+{"uid":"5499515889259703961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1321864031842169098.mp4"}
+{"uid":"9094240981601867129","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw Q: immediate next step? \u003cPRED\u003eA: open the blue maker organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the blue maker organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the blue maker organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the blue maker organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw Q: next 5 steps? \u003cPRED\u003eA: 1- open the blue maker organizer 2- place the marker into draw 3- Close the left door of the almirah 4- Close the right door of the almirah 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the blue maker organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the blue maker organizer\n\u003c/PRED\u003e","video":"3429446184735234602.mp4"}
+{"uid":"14577054589607644841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue 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":"14314400838943694458.mp4"}
+{"uid":"3003823986205704984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narranging duck toy properly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11397408536146356905.mp4"}
+{"uid":"11691384578143696736","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw Q: immediate next step? \u003cPRED\u003eA: Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow colored tube in the tray kept in the almirah 2- Put the blue colored tube in the almirah 3- Put the packet in the almirah 4- close the draw 5- open the draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow colored tube in the tray kept in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow colored tube in the tray kept in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17754389414432515056.mp4"}
+{"uid":"17875028557745963617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the crushed paper into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13680568404256500838.mp4"}
+{"uid":"3127620460302716255","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into draw 2- Close the left door of the almirah 3- Close the right door of the almirah 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker into draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw Q: immediate next step? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the marker into draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker into draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14077301632588703143.mp4"}
+{"uid":"12069093907273688520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup two papers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15846177751048528133.mp4"}
+{"uid":"730354171672127365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue black can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"409664784594937697.mp4"}
+{"uid":"17140225895510040845","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw Q: immediate next step? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw Q: next 5 steps? \u003cPRED\u003eA: 1- open the draw 2- place the marker into draw 3- Close the left door of the almirah 4- Close the right door of the almirah 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the draw\n\u003c/PRED\u003e","video":"345161562256608084.mp4"}
+{"uid":"4082830734501528002","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue marker in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2447283690043212390.mp4"}
+{"uid":"8938194924355184","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- close the left door 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the markers, scissors, and lead into the supply cabinet. last 20 steps: 1- open rack 2- Put the scissors in the almirah 3- Put the scissors in the almirah 4- Put the scissors in the almirah 5- Put the sticky notes in the almirah 6- Put the sticky notes in the almirah 7- Put the yellow colored tube in the almirah 8- place the marker into draw 9- Put the yellow colored tube in the tray kept in the almirah 10- Put the blue colored tube in the almirah 11- Put the packet in the almirah 12- close the draw 13- open the draw 14- place the marker into draw 15- Close the left door of the almirah Q: immediate next step? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the left door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17207086875042058047.mp4"}
+{"uid":"15615691832807420649","text":"\u003ctask:success:discrete:True\u003e\nclose the right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e","video":"16186734090260287454.mp4"}
+{"uid":"5251237909531931522","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow colored tube in the tray kept in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow colored tube in the tray kept in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8546456605144759669.mp4"}
+{"uid":"13870431323591013542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 7up can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13579424812642514812.mp4"}
+{"uid":"12611327451999163409","text":"\u003ctask:success:discrete:True\u003e\nopen the right door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the right door of the cupboard\n\u003c/PRED\u003e","video":"1453906184592697134.mp4"}
+{"uid":"17550124003631999814","text":"\u003ctask:success:discrete:True\u003e\nplace the glass in a upright position Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 glass in a upright position\n\u003c/PRED\u003e","video":"16848099382229223299.mp4"}
+{"uid":"9769058492896952965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1631051110687390463.mp4"}
+{"uid":"6890788181359452506","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the pear in the bowl 8- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the pear in the bowl 8- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"13558242486328795107.mp4"}
+{"uid":"7281624568002489707","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put stack of paper glass upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put stack of paper glass upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut stack of paper glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass Q: immediate next step? \u003cPRED\u003eA: Put stack of paper glass upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put stack of paper glass upright 2- stack cup on the top of existing stack 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut stack of paper glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Put stack of paper glass upright\n\u003c/PRED\u003e","video":"556207442716250396.mp4"}
+{"uid":"8594210031232190790","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8693016649208477805.mp4"}
+{"uid":"16695085683867956554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: stack cup on the top of existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack cup on the top of existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack cup on the top of existing stack 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack cup on the top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups Q: immediate next step? \u003cPRED\u003eA: stack cup on the top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack cup on the top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack cup on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10605568468023566925.mp4"}
+{"uid":"12281265244148377781","text":"\u003ctask:success:discrete:True\u003e\nStack the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e","video":"11168548907611164405.mp4"}
+{"uid":"6003493390204796732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10796979050073945622.mp4"}
+{"uid":"15654664379921652760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1697622479243931275.mp4"}
+{"uid":"12942698546089396077","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup Q: immediate next step? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the paper glass 2- upright the stack of cups 3- stack cup on the top of existing stack 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e","video":"1842326721515071420.mp4"}
+{"uid":"6337434017711020614","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"3460474485323346632.mp4"}
+{"uid":"11978243312986799165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"397754702860173454.mp4"}
+{"uid":"10245556556320799450","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the paper glass 2- Stack the paper glass 3- upright the stack of cups 4- stack cup on the top of existing stack 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass Q: immediate next step? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e","video":"2627742595551731996.mp4"}
+{"uid":"12619743837813285262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper cup in 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":"1903932143388586738.mp4"}
+{"uid":"2169393572213718699","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the glass in a upright position\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass in a upright position\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass in a upright position 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass in a upright position\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass in a upright position Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass in a upright position Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups Q: immediate next step? \u003cPRED\u003eA: place the glass in a upright position\n\u003c/PRED\u003e","video":"7708627627685253674.mp4"}
+{"uid":"19504850840080338","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups Q: immediate next step? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the paper glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Stack the paper glass\n\u003c/PRED\u003e","video":"16835257549042421000.mp4"}
+{"uid":"2624867304807377510","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e","video":"7420416062473956211.mp4"}
+{"uid":"2218384009785228558","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups 6- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups 6- stack the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"14356869727751634299.mp4"}
+{"uid":"17144565190274771696","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: place the cup upside down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup upside down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup upside down\n\u003c/PRED\u003e","video":"10500393087780490835.mp4"}
+{"uid":"5729585168296093663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper clip 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":"6131886199584714648.mp4"}
+{"uid":"6003742076274324909","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups 6- Stack the paper glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups 6- Stack the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4296849301478952212.mp4"}
+{"uid":"502920113273271300","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"16066757991635255505.mp4"}
+{"uid":"14382081621468593107","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5173001036051212331.mp4"}
+{"uid":"13051663132774448324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tea box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6314396118218851808.mp4"}
+{"uid":"14414004672305721858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14578664343845145828.mp4"}
+{"uid":"12130630522605667635","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"17227668518656842436.mp4"}
+{"uid":"11294618793030198109","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl 6- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl 6- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9761660051592732770.mp4"}
+{"uid":"11780490113363713867","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"14970815723362387455.mp4"}
+{"uid":"14429682801476464266","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e","video":"9055781723937991818.mp4"}
+{"uid":"17500808142640603883","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"10579600790964207146.mp4"}
+{"uid":"11627292114149510300","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"76349251873003169.mp4"}
+{"uid":"14374819958402189165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput paper glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4701323120258856839.mp4"}
+{"uid":"11085181233415971450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the purple object 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":"9251262520458990847.mp4"}
+{"uid":"7392024496707050747","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- upright the stack of cups 3- stack cup on the top of existing stack 4- done\n\u003c/PRED\u003e","video":"16607596393131631388.mp4"}
+{"uid":"347691217031299436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the top left indoor plant to the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"603874358701076521.mp4"}
+{"uid":"13644342525497413534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a Rold Gold packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10137811842545319122.mp4"}
+{"uid":"7947808903120039381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7282537838940196576.mp4"}
+{"uid":"6558346090419901400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11203347962366655284.mp4"}
+{"uid":"9604566362989126945","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the pear in the bowl\n\u003c/PRED\u003e","video":"11434336262930545646.mp4"}
+{"uid":"6351180928866815498","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"10940397478133897282.mp4"}
+{"uid":"3177619154420456723","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7146923414980009231.mp4"}
+{"uid":"3745302415320343074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets on the other 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":"15157025986118185443.mp4"}
+{"uid":"5092879605339314119","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups Q: immediate next step? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down Q: immediate next step? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper glass 2- stack the cup on the existing cup 3- Stack the paper glass 4- upright the stack of cups 5- stack cup on the top of existing stack\n\u003c/PRED\u003e","video":"1171798778385843151.mp4"}
+{"uid":"9372129563793189353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray 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":"7534626154483621770.mp4"}
+{"uid":"17865067044333578616","text":"\u003ctask:success:discrete:False\u003e\nstack the cup on the existing cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup on the existing cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup on the existing cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass Q: immediate next step? \u003cPRED\u003eA: stack the cup on the existing cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup on the existing cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: stack the cup on the existing cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup on the existing cup 2- Stack the paper glass 3- upright the stack of cups 4- stack cup on the top of existing stack 5- done\n\u003c/PRED\u003e","video":"368537876309738188.mp4"}
+{"uid":"5800913228048638779","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"9028651542880225489.mp4"}
+{"uid":"3551863934103169454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10305300026802297645.mp4"}
+{"uid":"18330512198470795582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10232039545738141412.mp4"}
+{"uid":"9173977105849965461","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"3110962665534803941.mp4"}
+{"uid":"12811937434236200129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knives in the knife 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":"7063742916810660928.mp4"}
+{"uid":"17317506905196681073","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"7715903726732243032.mp4"}
+{"uid":"14873796122427703308","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper glass upright 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e","video":"13444553179563776762.mp4"}
+{"uid":"11657301404676434799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"4998433485615669189.mp4"}
+{"uid":"17692061646653766055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2757537863037202642.mp4"}
+{"uid":"17393064904056658799","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright the stack of cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nupright the stack of cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10932997070185896700.mp4"}
+{"uid":"12266508186169273422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour water in the coffee 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":"12056781102834208371.mp4"}
+{"uid":"5022487374835022486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14715527883460111331.mp4"}
+{"uid":"18402169112494800321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrotate the  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":"9942459381076543335.mp4"}
+{"uid":"17462401742487163943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the spoon right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15242050924270446746.mp4"}
+{"uid":"8238142321396725588","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"7748450037650288796.mp4"}
+{"uid":"3750452239691865697","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup on the existing cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup on the existing cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6093848472503812571.mp4"}
+{"uid":"12759940147190072896","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":"11938776280053401204.mp4"}
+{"uid":"8103737578977102505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lead packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17221846276088297280.mp4"}
+{"uid":"1111854895408625100","text":"\u003ctask:success:discrete:False\u003e\nupright the stack of cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: upright the stack of cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- upright the stack of cups 2- stack cup on the top of existing stack 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the stack of cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the stack of cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nupright the stack of cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass Q: immediate next step? \u003cPRED\u003eA: upright the stack of cups\n\u003c/PRED\u003e","video":"13568878856908796486.mp4"}
+{"uid":"16872352518206713301","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13241732731635753114.mp4"}
+{"uid":"14555215884431363379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue paper 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":"633476681659849250.mp4"}
+{"uid":"18325996573394924127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1159477465496356732.mp4"}
+{"uid":"2185215843278997253","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: restack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"6365371464043699601.mp4"}
+{"uid":"5270830411300121649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3300369907536832701.mp4"}
+{"uid":"1362232294177258097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4028801746191839226.mp4"}
+{"uid":"5632428879313603151","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"14182004979534210900.mp4"}
+{"uid":"7930818306305253648","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"16232915674606022456.mp4"}
+{"uid":"6507107185383135178","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups 6- stack cup on the top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack cup on the top of existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the cups. last 20 steps: 1- place the cup upside down 2- Pick up the paper glass 3- stack the cup on the existing cup 4- Stack the paper glass 5- upright the stack of cups 6- stack cup on the top of existing stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack cup on the top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"737176808368268153.mp4"}
+{"uid":"16821307408727822565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"11378301020337356003.mp4"}
+{"uid":"9081667861264385189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen on a 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":"16617072913673981224.mp4"}
+{"uid":"16624949438948818395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scooper 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":"15450384029069098668.mp4"}
+{"uid":"11425222217709676253","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"9465204842082357205.mp4"}
+{"uid":"4715484651742049987","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put the pip corn packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pip corn packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"2283522597264505906.mp4"}
+{"uid":"11617957365269151153","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e","video":"10567754573083499016.mp4"}
+{"uid":"12678866349595617914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16793121338811756944.mp4"}
+{"uid":"18198658524172993842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"699484449807666250.mp4"}
+{"uid":"3107106154925436912","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14879466942857704597.mp4"}
+{"uid":"7774510190478604679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen on the tray 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":"7225154300130523716.mp4"}
+{"uid":"18115698834632316053","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":"15549870541024268052.mp4"}
+{"uid":"4843774350043268771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace mint box in an 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":"10080976379777614172.mp4"}
+{"uid":"15509947097792466893","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put popcorn packets on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"5522934436848910263.mp4"}
+{"uid":"7230145211455326977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the wet wipes 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":"2241160271244781081.mp4"}
+{"uid":"1381413666842671827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11600958748087350020.mp4"}
+{"uid":"191523176245618415","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4598061835601727654.mp4"}
+{"uid":"6198062112155203771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8629566362179686486.mp4"}
+{"uid":"13960624654288944941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16914556943562460632.mp4"}
+{"uid":"16244830794053926371","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put popcorn packets on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17983549886049514123.mp4"}
+{"uid":"13288792979791704387","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e","video":"11226911546264352834.mp4"}
+{"uid":"5023085701833950359","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e","video":"15534298782122439079.mp4"}
+{"uid":"6690288631464454890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2112585198666985897.mp4"}
+{"uid":"18227594778547060073","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"6744156838190207346.mp4"}
+{"uid":"7540166733493782088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12871455321257303249.mp4"}
+{"uid":"17794485127834982696","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":"17681425228887838185.mp4"}
+{"uid":"7049062673369787938","text":"\u003ctask:success:discrete:True\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"846975859553805653.mp4"}
+{"uid":"5868534573078652200","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3529958544219506957.mp4"}
+{"uid":"10373930905179910748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6653458994739799451.mp4"}
+{"uid":"1123705556789077272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17687519833950503298.mp4"}
+{"uid":"7170671257387699445","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"8801444209336714803.mp4"}
+{"uid":"7743762016641825593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16491243186254973455.mp4"}
+{"uid":"15490281135842755298","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e","video":"12414733026082061033.mp4"}
+{"uid":"9854643782890127455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork 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":"2930736694909458010.mp4"}
+{"uid":"530177437174903871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet 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":"78493558010457287.mp4"}
+{"uid":"16115054994085099539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15771928832592041290.mp4"}
+{"uid":"1255771425416240294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"539790702339774557.mp4"}
+{"uid":"2859034990949607019","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"2047246705612546446.mp4"}
+{"uid":"10358193703551515308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6668914015652818680.mp4"}
+{"uid":"2429055888618511518","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"18185056356605511848.mp4"}
+{"uid":"248490703715219441","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10758354957350089691.mp4"}
+{"uid":"15986759594944436381","text":"\u003ctask:success:discrete:False\u003e\nput the black packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the black packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put the black packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the black packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"587485631590046584.mp4"}
+{"uid":"11277599150337137908","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet on the table 2- put popcorn packets on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e","video":"9551952371523196924.mp4"}
+{"uid":"13381576916390100073","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"10758554101113436258.mp4"}
+{"uid":"13958424700949043457","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3465053148705511243.mp4"}
+{"uid":"12253951509910130136","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e","video":"12302432628547273861.mp4"}
+{"uid":"1712246115993490587","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"14239537044583080879.mp4"}
+{"uid":"5975854141701949879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9425577848035523173.mp4"}
+{"uid":"11791811309197157297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15167782525008965541.mp4"}
+{"uid":"6437485136852684867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2225652594654879896.mp4"}
+{"uid":"814995350214011541","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8710368748233695759.mp4"}
+{"uid":"6406293159106699266","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e","video":"8998111038522998405.mp4"}
+{"uid":"13664369339120358951","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e","video":"12541568125592360489.mp4"}
+{"uid":"11681623811029407754","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put popcorn packet on the table 3- put popcorn packets on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"17824738846897712932.mp4"}
+{"uid":"12879432612711534021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9218469678311699061.mp4"}
+{"uid":"11416176499838142704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10956257333785235364.mp4"}
+{"uid":"16679355702616232457","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":"1706945865602741232.mp4"}
+{"uid":"15814008271352395901","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1203977812819725053.mp4"}
+{"uid":"6052138847478514526","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8937607697334108719.mp4"}
+{"uid":"7578099134363293142","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":"1797389193252242062.mp4"}
+{"uid":"17611603647157547225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green marker 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":"2121035764226432590.mp4"}
+{"uid":"38794953940190210","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put popcorn packet on the table 4- put popcorn packets on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17906152086724663777.mp4"}
+{"uid":"4065341531919396610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11815652729319721200.mp4"}
+{"uid":"15895396068251394164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the right file to the bottom Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15887439937650575375.mp4"}
+{"uid":"13935523927398428694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candies 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":"17659346164784909016.mp4"}
+{"uid":"5981002864161787490","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4668934441278542541.mp4"}
+{"uid":"15260047746010764545","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8428158522751238887.mp4"}
+{"uid":"6786037901416073916","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":"16418691270891235363.mp4"}
+{"uid":"519354331091278047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5043708341218982030.mp4"}
+{"uid":"17714733141665260266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16486866859765802646.mp4"}
+{"uid":"8593279509510166593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite meeting on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3920477297213113580.mp4"}
+{"uid":"17452080161851438514","text":"\u003ctask:success:discrete:True\u003e\nput popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"3724240717241097268.mp4"}
+{"uid":"2081657977835256109","text":"\u003ctask:success:discrete:True\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"11639067422045407014.mp4"}
+{"uid":"18247466958936256072","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17218783361024728415.mp4"}
+{"uid":"10109191924550167126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10780476313647490069.mp4"}
+{"uid":"3397302726337825111","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"14281770060254470859.mp4"}
+{"uid":"7058249436201331411","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"16579438455364950583.mp4"}
+{"uid":"816353675683413323","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray\n\u003c/PRED\u003e","video":"455847564868501562.mp4"}
+{"uid":"7217580892107477012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the right bottom potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12741832235613600138.mp4"}
+{"uid":"7986308447027528346","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14431563587906681709.mp4"}
+{"uid":"188914968295855113","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5162858994567092898.mp4"}
+{"uid":"6117914570170053786","text":"\u003ctask:success:discrete:True\u003e\nput popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e","video":"7174737533448518094.mp4"}
+{"uid":"15724343535256091979","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray\n\u003c/PRED\u003e","video":"8318581682552765202.mp4"}
+{"uid":"16438525561793573034","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray 8- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray 8- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"13121432382484033055.mp4"}
+{"uid":"1189652242588821669","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray 8- put orange packet in the tray 9- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray 8- put orange packet in the tray 9- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"1140205879602783714.mp4"}
+{"uid":"2657093469576182336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in black 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":"10152040096138218703.mp4"}
+{"uid":"2714284974317565146","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in the tray 2- put orange packet in the tray 3- put orange packet in the tray 4- put orange packet in the tray 5- put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"5666669626673447633.mp4"}
+{"uid":"1173471881984507140","text":"\u003ctask:success:discrete:True\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"12832462427460551288.mp4"}
+{"uid":"12320753140114066163","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray 8- put orange packet in the tray 9- put orange packet in the tray 10- put orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put popcorn packet in the tray 2- put popcorn packet in the tray 3- put popcorn packet in the tray 4- put popcorn packet in the tray 5- put popcorn packet in the tray 6- put orange packet in the tray 7- put orange packet in the tray 8- put orange packet in the tray 9- put orange packet in the tray 10- put orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in the tray\n\u003c/PRED\u003e","video":"6629069952657044033.mp4"}
+{"uid":"14096043016889244071","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- done\n\u003c/PRED\u003e","video":"6697844290326890158.mp4"}
+{"uid":"1791927087472795081","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"13042735458001825438.mp4"}
+{"uid":"17210888952864026291","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"12982010286475636216.mp4"}
+{"uid":"10395920129671764128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the 1 number ball in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2324826458544552558.mp4"}
+{"uid":"7158736506064788335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12749630001857037632.mp4"}
+{"uid":"11708074013275218786","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the pen in the pen holder 2- Put the pen in the pen holder 3- Put the book in the cart 4- Put the book in the cart 5- adjust the chair 6- open the cable box 7- Put the wire inside the cable box 8- close the cable box 9- adjust the chair 10- adjust the chair 11- open the cable box 12- Put the wire inside the cable box 13- close the cable box 14- adjust the wire 15- Adjust the chair 16- move cart near to the door 17- Put the pen in the pen holder 18- Put the book in the cart 19- adjust the chair 20- move cart near to the window Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the book in the cart 3- adjust the chair 4- Put the pen in the pen holder 5- Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the pen in the pen holder 2- Put the pen in the pen holder 3- Put the book in the cart 4- Put the book in the cart 5- adjust the chair 6- open the cable box 7- Put the wire inside the cable box 8- close the cable box 9- adjust the chair 10- adjust the chair 11- open the cable box 12- Put the wire inside the cable box 13- close the cable box 14- adjust the wire 15- Adjust the chair 16- move cart near to the door 17- Put the pen in the pen holder 18- Put the book in the cart 19- adjust the chair 20- move cart near to the window Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11624752023191615982.mp4"}
+{"uid":"15252839797976555753","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: move cart near to the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: move cart near to the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove cart near to the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move cart near to the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove cart near to the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- move cart near to the door 2- Put the pen in the pen holder 3- Put the book in the cart 4- adjust the chair 5- move cart near to the window\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move cart near to the door\n\u003c/PRED\u003e","video":"13187333635635050694.mp4"}
+{"uid":"6987228304712512681","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wire inside the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box Q: immediate next step? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wire inside the cable box 2- close the cable box 3- adjust the chair 4- adjust the chair 5- open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wire inside the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17610537650009562991.mp4"}
+{"uid":"14372116090721727392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pens 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":"15885619650519183163.mp4"}
+{"uid":"6050492361419414627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the middle 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":"12271544164797022377.mp4"}
+{"uid":"3391517099993871958","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the pen in the pen holder 3- Put the book in the cart 4- Put the book in the cart 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"6334701654285957243.mp4"}
+{"uid":"3471245664562094236","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- close the cable box 2- adjust the chair 3- adjust the chair 4- open the cable box 5- Put the wire inside the cable box 6- close the cable box 7- adjust the wire 8- Adjust the chair 9- move cart near to the door 10- Put the pen in the pen holder 11- Put the book in the cart 12- adjust the chair 13- move cart near to the window 14- Put the pen in the pen holder 15- Put the book in the cart 16- adjust the chair 17- Put the pen in the pen holder 18- Put the pen in the pen holder 19- Put the book in the cart 20- Put the book in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- adjust the chair 4- open the cable box 5- Put the wire in the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- close the cable box 2- adjust the chair 3- adjust the chair 4- open the cable box 5- Put the wire inside the cable box 6- close the cable box 7- adjust the wire 8- Adjust the chair 9- move cart near to the door 10- Put the pen in the pen holder 11- Put the book in the cart 12- adjust the chair 13- move cart near to the window 14- Put the pen in the pen holder 15- Put the book in the cart 16- adjust the chair 17- Put the pen in the pen holder 18- Put the pen in the pen holder 19- Put the book in the cart 20- Put the book in the cart Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3709083254432449924.mp4"}
+{"uid":"13952228048437808531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14447451905585983770.mp4"}
+{"uid":"1699365552637408362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12890478471998157841.mp4"}
+{"uid":"12065854803800236667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"6887649690060747857.mp4"}
+{"uid":"13326221820993734808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the wire 2- Adjust the chair 3- move cart near to the door 4- Put the pen in the pen holder 5- Put the book in the cart 6- adjust the chair 7- move cart near to the window 8- Put the pen in the pen holder 9- Put the book in the cart 10- adjust the chair 11- Put the pen in the pen holder 12- Put the pen in the pen holder 13- Put the book in the cart 14- Put the book in the cart 15- adjust the chair 16- adjust the chair 17- adjust the chair 18- open the cable box 19- Put the wire in the cable box 20- close the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wire inside the cable box 2- close the cable box 3- Move cart to the corner of the room 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the wire 2- Adjust the chair 3- move cart near to the door 4- Put the pen in the pen holder 5- Put the book in the cart 6- adjust the chair 7- move cart near to the window 8- Put the pen in the pen holder 9- Put the book in the cart 10- adjust the chair 11- Put the pen in the pen holder 12- Put the pen in the pen holder 13- Put the book in the cart 14- Put the book in the cart 15- adjust the chair 16- adjust the chair 17- adjust the chair 18- open the cable box 19- Put the wire in the cable box 20- close the cable box Q: immediate next step? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wire inside the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wire inside the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17336634885410535991.mp4"}
+{"uid":"2088584919099686816","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":"4693515014574436115.mp4"}
+{"uid":"18435554539344927832","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move cart forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove cart forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cart forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move cart forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move cart forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: move cart forward\n\u003c/PRED\u003e","video":"12038477385481424846.mp4"}
+{"uid":"4461209014531978235","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- open the cable box 3- Put the wire inside the cable box 4- close the cable box 5- adjust the wire\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"4886012299703975691.mp4"}
+{"uid":"14460883845192016824","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the book in the cart 2- Put the book in the cart 3- adjust the chair 4- open the cable box 5- Put the wire inside the cable box 6- close the cable box 7- adjust the chair 8- adjust the chair 9- open the cable box 10- Put the wire inside the cable box 11- close the cable box 12- adjust the wire 13- Adjust the chair 14- move cart near to the door 15- Put the pen in the pen holder 16- Put the book in the cart 17- adjust the chair 18- move cart near to the window 19- Put the pen in the pen holder 20- Put the book in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- Put the book in the cart 5- Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the book in the cart 2- Put the book in the cart 3- adjust the chair 4- open the cable box 5- Put the wire inside the cable box 6- close the cable box 7- adjust the chair 8- adjust the chair 9- open the cable box 10- Put the wire inside the cable box 11- close the cable box 12- adjust the wire 13- Adjust the chair 14- move cart near to the door 15- Put the pen in the pen holder 16- Put the book in the cart 17- adjust the chair 18- move cart near to the window 19- Put the pen in the pen holder 20- Put the book in the cart Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"9820804353852633435.mp4"}
+{"uid":"8157289550952902122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose first aid 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":"7189896281657802795.mp4"}
+{"uid":"17774600932418996901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy 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":"6284170606527154603.mp4"}
+{"uid":"16134094826686136582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red bull 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":"914404391543268292.mp4"}
+{"uid":"7534037406692731985","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair 18- move cart near to the door 19- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair 18- move cart near to the door 19- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the cart 2- adjust the chair 3- move cart near to the window 4- Put the pen in the pen holder 5- Put the book in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e","video":"7262933448353891395.mp4"}
+{"uid":"14823192373198815314","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"7734024261300934246.mp4"}
+{"uid":"10350500375321134540","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair 18- move cart near to the door Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair 18- move cart near to the door Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the book in the cart 3- adjust the chair 4- move cart near to the window 5- Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"1843074047077994659.mp4"}
+{"uid":"9271103106914118069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13281140144544746479.mp4"}
+{"uid":"885994749791356620","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4980066923844096601.mp4"}
+{"uid":"13295525792809908234","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the paper cup packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8229171406369849070.mp4"}
+{"uid":"8519825475883240902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove glass forwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"918643570213570100.mp4"}
+{"uid":"16400519607678836134","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"16356945719554018368.mp4"}
+{"uid":"15164941306736065945","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the chair 2- adjust the chair 3- open the cable box 4- Put the wire inside the cable box 5- close the cable box 6- adjust the wire 7- Adjust the chair 8- move cart near to the door 9- Put the pen in the pen holder 10- Put the book in the cart 11- adjust the chair 12- move cart near to the window 13- Put the pen in the pen holder 14- Put the book in the cart 15- adjust the chair 16- Put the pen in the pen holder 17- Put the pen in the pen holder 18- Put the book in the cart 19- Put the book in the cart 20- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- open the cable box 4- Put the wire in the cable box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the chair 2- adjust the chair 3- open the cable box 4- Put the wire inside the cable box 5- close the cable box 6- adjust the wire 7- Adjust the chair 8- move cart near to the door 9- Put the pen in the pen holder 10- Put the book in the cart 11- adjust the chair 12- move cart near to the window 13- Put the pen in the pen holder 14- Put the book in the cart 15- adjust the chair 16- Put the pen in the pen holder 17- Put the pen in the pen holder 18- Put the book in the cart 19- Put the book in the cart 20- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"731181242772542767.mp4"}
+{"uid":"4802835355263101436","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16845109628283674159.mp4"}
+{"uid":"14094929215547527199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the fork put it in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10444118160434631941.mp4"}
+{"uid":"17437127017840441754","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the cart 2- Put the book in the cart 3- adjust the chair 4- open the cable box 5- Put the wire inside the cable box\n\u003c/PRED\u003e","video":"6149884447500264281.mp4"}
+{"uid":"17970026002461697574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9779244166294625053.mp4"}
+{"uid":"487163126911675878","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wire inside the cable box 2- close the cable box 3- adjust the wire 4- Adjust the chair 5- move cart near to the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wire inside the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wire inside the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box Q: immediate next step? \u003cPRED\u003eA: Put the wire inside the cable box\n\u003c/PRED\u003e","video":"11938873594801329811.mp4"}
+{"uid":"16018271281382650488","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"10550156040234932516.mp4"}
+{"uid":"13878739322953671666","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Move cart to the corner of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove cart to the corner of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move cart to the corner of the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move cart to the corner of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove cart to the corner of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart near to the door 2- Put the pen in the pen holder 3- Put the book in the cart 4- adjust the chair 5- move cart near to the window 6- Put the pen in the pen holder 7- Put the book in the cart 8- adjust the chair 9- Put the pen in the pen holder 10- Put the pen in the pen holder 11- Put the book in the cart 12- Put the book in the cart 13- adjust the chair 14- adjust the chair 15- adjust the chair 16- open the cable box 17- Put the wire in the cable box 18- close the cable box 19- Put the wire inside the cable box 20- close the cable box Q: immediate next step? \u003cPRED\u003eA: Move cart to the corner of the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart near to the door 2- Put the pen in the pen holder 3- Put the book in the cart 4- adjust the chair 5- move cart near to the window 6- Put the pen in the pen holder 7- Put the book in the cart 8- adjust the chair 9- Put the pen in the pen holder 10- Put the pen in the pen holder 11- Put the book in the cart 12- Put the book in the cart 13- adjust the chair 14- adjust the chair 15- adjust the chair 16- open the cable box 17- Put the wire in the cable box 18- close the cable box 19- Put the wire inside the cable box 20- close the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- Move cart to the corner of the room 2- done\n\u003c/PRED\u003e","video":"18425383127575970456.mp4"}
+{"uid":"8753024626291659760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13521049271918867861.mp4"}
+{"uid":"5660707890225513068","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- open the cable box 2- Put the wire inside the cable box 3- close the cable box 4- adjust the wire 5- Adjust the chair 6- move cart near to the door 7- Put the pen in the pen holder 8- Put the book in the cart 9- adjust the chair 10- move cart near to the window 11- Put the pen in the pen holder 12- Put the book in the cart 13- adjust the chair 14- Put the pen in the pen holder 15- Put the pen in the pen holder 16- Put the book in the cart 17- Put the book in the cart 18- adjust the chair 19- adjust the chair 20- adjust the chair Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- open the cable box 2- Put the wire inside the cable box 3- close the cable box 4- adjust the wire 5- Adjust the chair 6- move cart near to the door 7- Put the pen in the pen holder 8- Put the book in the cart 9- adjust the chair 10- move cart near to the window 11- Put the pen in the pen holder 12- Put the book in the cart 13- adjust the chair 14- Put the pen in the pen holder 15- Put the pen in the pen holder 16- Put the book in the cart 17- Put the book in the cart 18- adjust the chair 19- adjust the chair 20- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- open the cable box 2- Put the wire in the cable box 3- close the cable box 4- Put the wire inside the cable box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e","video":"6510067059207879321.mp4"}
+{"uid":"4409061088027665421","text":"\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- place the paper cup packet in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"10474954008585495839.mp4"}
+{"uid":"687613616469953307","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":"3665903975434106504.mp4"}
+{"uid":"8678991032767631834","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move cart near to the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove cart near to the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12359680418302743267.mp4"}
+{"uid":"14141350450768359135","text":"\u003ctask:success:discrete:False\u003e\nmove book to the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: move book to the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move book to the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward Q: immediate next step? \u003cPRED\u003eA: move book to the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove book to the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward Q: next 5 steps? \u003cPRED\u003eA: 1- move book to the right side of the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- Put the book in the cart 5- Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move book to the right side of the table\n\u003c/PRED\u003e","video":"10515316615848893227.mp4"}
+{"uid":"3536612240453137518","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: 1- Open the drawer 2- place the paper cup packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: 1- Open the drawer 2- place the paper cup packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"18335085344780315335.mp4"}
+{"uid":"13229202093549084515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4997343364963451730.mp4"}
+{"uid":"16427490449012663645","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- open the cable box 2- Put the wire inside the cable box 3- close the cable box 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e","video":"13387548930293600382.mp4"}
+{"uid":"17642649189913223675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Adjust the chair 2- move cart near to the door 3- Put the pen in the pen holder 4- Put the book in the cart 5- adjust the chair 6- move cart near to the window 7- Put the pen in the pen holder 8- Put the book in the cart 9- adjust the chair 10- Put the pen in the pen holder 11- Put the pen in the pen holder 12- Put the book in the cart 13- Put the book in the cart 14- adjust the chair 15- adjust the chair 16- adjust the chair 17- open the cable box 18- Put the wire in the cable box 19- close the cable box 20- Put the wire inside the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- Move cart to the corner of the room 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Adjust the chair 2- move cart near to the door 3- Put the pen in the pen holder 4- Put the book in the cart 5- adjust the chair 6- move cart near to the window 7- Put the pen in the pen holder 8- Put the book in the cart 9- adjust the chair 10- Put the pen in the pen holder 11- Put the pen in the pen holder 12- Put the book in the cart 13- Put the book in the cart 14- adjust the chair 15- adjust the chair 16- adjust the chair 17- open the cable box 18- Put the wire in the cable box 19- close the cable box 20- Put the wire inside the cable box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e","video":"9403398384977609700.mp4"}
+{"uid":"3077100287293838319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on 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":"4669916113236935186.mp4"}
+{"uid":"1942337317583034870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4599166388594868029.mp4"}
+{"uid":"16925859508785081391","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"4945927238217264983.mp4"}
+{"uid":"17841065324500989873","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1603198053597976353.mp4"}
+{"uid":"13545247774629038116","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1172397592272141962.mp4"}
+{"uid":"531276339007003231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the stapler in 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":"11162293818618386180.mp4"}
+{"uid":"16900816181687462460","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":"7165639630177300844.mp4"}
+{"uid":"2324986729494112673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow candy in a bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2700974872785887232.mp4"}
+{"uid":"2286043771941420656","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the wire inside the cable box 2- close the cable box 3- adjust the wire 4- Adjust the chair 5- move cart near to the door 6- Put the pen in the pen holder 7- Put the book in the cart 8- adjust the chair 9- move cart near to the window 10- Put the pen in the pen holder 11- Put the book in the cart 12- adjust the chair 13- Put the pen in the pen holder 14- Put the pen in the pen holder 15- Put the book in the cart 16- Put the book in the cart 17- adjust the chair 18- adjust the chair 19- adjust the chair 20- open the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wire in the cable box 2- close the cable box 3- Put the wire inside the cable box 4- close the cable box 5- Move cart to the corner of the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wire in the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the wire in the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wire in the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wire in the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the wire inside the cable box 2- close the cable box 3- adjust the wire 4- Adjust the chair 5- move cart near to the door 6- Put the pen in the pen holder 7- Put the book in the cart 8- adjust the chair 9- move cart near to the window 10- Put the pen in the pen holder 11- Put the book in the cart 12- adjust the chair 13- Put the pen in the pen holder 14- Put the pen in the pen holder 15- Put the book in the cart 16- Put the book in the cart 17- adjust the chair 18- adjust the chair 19- adjust the chair 20- open the cable box Q: immediate next step? \u003cPRED\u003eA: Put the wire in the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wire in the cable box\n\u003c/PRED\u003e","video":"12047557870784819953.mp4"}
+{"uid":"10315677239177257428","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":"4277678289735953085.mp4"}
+{"uid":"3296218797080202272","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the cart 2- adjust the chair 3- open the cable box 4- Put the wire inside the cable box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e","video":"298089032106763030.mp4"}
+{"uid":"17830037148310251825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9693747858560192822.mp4"}
+{"uid":"8256808463561731157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8397670209362892241.mp4"}
+{"uid":"17249657235203655164","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the pen in the pen holder 2- Put the book in the cart 3- Put the book in the cart 4- adjust the chair 5- open the cable box 6- Put the wire inside the cable box 7- close the cable box 8- adjust the chair 9- adjust the chair 10- open the cable box 11- Put the wire inside the cable box 12- close the cable box 13- adjust the wire 14- Adjust the chair 15- move cart near to the door 16- Put the pen in the pen holder 17- Put the book in the cart 18- adjust the chair 19- move cart near to the window 20- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the cart 2- adjust the chair 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the pen in the pen holder 2- Put the book in the cart 3- Put the book in the cart 4- adjust the chair 5- open the cable box 6- Put the wire inside the cable box 7- close the cable box 8- adjust the chair 9- adjust the chair 10- open the cable box 11- Put the wire inside the cable box 12- close the cable box 13- adjust the wire 14- Adjust the chair 15- move cart near to the door 16- Put the pen in the pen holder 17- Put the book in the cart 18- adjust the chair 19- move cart near to the window 20- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e","video":"3551052167256417693.mp4"}
+{"uid":"1264677049457333038","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- adjust the chair 3- adjust the chair 4- open the cable box 5- Put the wire inside the cable box\n\u003c/PRED\u003e","video":"10089439011905268105.mp4"}
+{"uid":"17617856877802693475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2951129499991641746.mp4"}
+{"uid":"2659626922662101911","text":"\u003ctask:success:discrete:False\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- move cart near to the door 3- Put the pen in the pen holder 4- Put the book in the cart 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e","video":"11295822827374477036.mp4"}
+{"uid":"3580203992690684926","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- open the cable box 2- Put the wire inside the cable box 3- close the cable box 4- adjust the wire 5- Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair Q: immediate next step? \u003cPRED\u003eA: open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12531768593358868978.mp4"}
+{"uid":"5556935726155340794","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":"394717988692400226.mp4"}
+{"uid":"15752596362912262519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the utensil Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8507960636945086449.mp4"}
+{"uid":"17400001720229855744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue 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":"14046706864211038585.mp4"}
+{"uid":"14382960471877812548","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the wire\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the wire\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the wire\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the wire 2- Adjust the chair 3- move cart near to the door 4- Put the pen in the pen holder 5- Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box Q: immediate next step? \u003cPRED\u003eA: adjust the wire\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the wire Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8687050890137539369.mp4"}
+{"uid":"15044182018242633197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho 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":"14755427275579269421.mp4"}
+{"uid":"11803477896537640797","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: 1- Open the drawer 2- place the paper cup packet in the drawer 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: 1- Open the drawer 2- place the paper cup packet in the drawer 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2409738899690032810.mp4"}
+{"uid":"18211239032270600204","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the book in the cart 3- Put the book in the cart 4- adjust the chair 5- open the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"14143353203794962593.mp4"}
+{"uid":"13713198640836560321","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move cart forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove cart forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9133307230327909532.mp4"}
+{"uid":"6219996906962634087","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"3271889017754176641.mp4"}
+{"uid":"944371142840966141","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- open the cable box 2- Put the wire inside the cable box 3- close the cable box 4- adjust the chair 5- adjust the chair 6- open the cable box 7- Put the wire inside the cable box 8- close the cable box 9- adjust the wire 10- Adjust the chair 11- move cart near to the door 12- Put the pen in the pen holder 13- Put the book in the cart 14- adjust the chair 15- move cart near to the window 16- Put the pen in the pen holder 17- Put the book in the cart 18- adjust the chair 19- Put the pen in the pen holder 20- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the cart 2- Put the book in the cart 3- adjust the chair 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- open the cable box 2- Put the wire inside the cable box 3- close the cable box 4- adjust the chair 5- adjust the chair 6- open the cable box 7- Put the wire inside the cable box 8- close the cable box 9- adjust the wire 10- Adjust the chair 11- move cart near to the door 12- Put the pen in the pen holder 13- Put the book in the cart 14- adjust the chair 15- move cart near to the window 16- Put the pen in the pen holder 17- Put the book in the cart 18- adjust the chair 19- Put the pen in the pen holder 20- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e","video":"17616536735305737694.mp4"}
+{"uid":"3106675024022622353","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the chair 2- open the cable box 3- Put the wire inside the cable box 4- close the cable box 5- adjust the chair 6- adjust the chair 7- open the cable box 8- Put the wire inside the cable box 9- close the cable box 10- adjust the wire 11- Adjust the chair 12- move cart near to the door 13- Put the pen in the pen holder 14- Put the book in the cart 15- adjust the chair 16- move cart near to the window 17- Put the pen in the pen holder 18- Put the book in the cart 19- adjust the chair 20- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the chair 2- open the cable box 3- Put the wire inside the cable box 4- close the cable box 5- adjust the chair 6- adjust the chair 7- open the cable box 8- Put the wire inside the cable box 9- close the cable box 10- adjust the wire 11- Adjust the chair 12- move cart near to the door 13- Put the pen in the pen holder 14- Put the book in the cart 15- adjust the chair 16- move cart near to the window 17- Put the pen in the pen holder 18- Put the book in the cart 19- adjust the chair 20- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the book in the cart 3- Put the book in the cart 4- adjust the chair 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"13509073828064406025.mp4"}
+{"uid":"1719329593442618289","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- adjust the chair 3- open the cable box 4- Put the wire inside the cable box 5- close the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"4333251847580255372.mp4"}
+{"uid":"14050583368942100652","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the chair 2- open the cable box 3- Put the wire inside the cable box 4- close the cable box 5- adjust the wire 6- Adjust the chair 7- move cart near to the door 8- Put the pen in the pen holder 9- Put the book in the cart 10- adjust the chair 11- move cart near to the window 12- Put the pen in the pen holder 13- Put the book in the cart 14- adjust the chair 15- Put the pen in the pen holder 16- Put the pen in the pen holder 17- Put the book in the cart 18- Put the book in the cart 19- adjust the chair 20- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- open the cable box 3- Put the wire in the cable box 4- close the cable box 5- Put the wire inside the cable box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- adjust the chair 2- open the cable box 3- Put the wire inside the cable box 4- close the cable box 5- adjust the wire 6- Adjust the chair 7- move cart near to the door 8- Put the pen in the pen holder 9- Put the book in the cart 10- adjust the chair 11- move cart near to the window 12- Put the pen in the pen holder 13- Put the book in the cart 14- adjust the chair 15- Put the pen in the pen holder 16- Put the pen in the pen holder 17- Put the book in the cart 18- Put the book in the cart 19- adjust the chair 20- adjust the chair Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"9604457435107714971.mp4"}
+{"uid":"11771394875708220070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red color cookie 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":"17671270354068201804.mp4"}
+{"uid":"7733311312825447508","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"6109768069138802684.mp4"}
+{"uid":"9189102063843442513","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- close the cable box 2- adjust the wire 3- Adjust the chair 4- move cart near to the door 5- Put the pen in the pen holder 6- Put the book in the cart 7- adjust the chair 8- move cart near to the window 9- Put the pen in the pen holder 10- Put the book in the cart 11- adjust the chair 12- Put the pen in the pen holder 13- Put the pen in the pen holder 14- Put the book in the cart 15- Put the book in the cart 16- adjust the chair 17- adjust the chair 18- adjust the chair 19- open the cable box 20- Put the wire in the cable box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- close the cable box 2- adjust the wire 3- Adjust the chair 4- move cart near to the door 5- Put the pen in the pen holder 6- Put the book in the cart 7- adjust the chair 8- move cart near to the window 9- Put the pen in the pen holder 10- Put the book in the cart 11- adjust the chair 12- Put the pen in the pen holder 13- Put the pen in the pen holder 14- Put the book in the cart 15- Put the book in the cart 16- adjust the chair 17- adjust the chair 18- adjust the chair 19- open the cable box 20- Put the wire in the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- Put the wire inside the cable box 3- close the cable box 4- Move cart to the corner of the room 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e","video":"4188535727968111198.mp4"}
+{"uid":"14475617144837160252","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8286686532106316494.mp4"}
+{"uid":"4344691085052569080","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move book to the right side of the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- Put the book in the cart 5- Put the book in the cart 6- adjust the chair 7- open the cable box 8- Put the wire inside the cable box 9- close the cable box 10- adjust the chair 11- adjust the chair 12- open the cable box 13- Put the wire inside the cable box 14- close the cable box 15- adjust the wire 16- Adjust the chair 17- move cart near to the door 18- Put the pen in the pen holder 19- Put the book in the cart 20- adjust the chair Q: immediate next step? \u003cPRED\u003eA: move cart near to the window\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove cart near to the window Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: move cart near to the window\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move cart near to the window\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove cart near to the window Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move book to the right side of the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- Put the book in the cart 5- Put the book in the cart 6- adjust the chair 7- open the cable box 8- Put the wire inside the cable box 9- close the cable box 10- adjust the chair 11- adjust the chair 12- open the cable box 13- Put the wire inside the cable box 14- close the cable box 15- adjust the wire 16- Adjust the chair 17- move cart near to the door 18- Put the pen in the pen holder 19- Put the book in the cart 20- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- move cart near to the window 2- Put the pen in the pen holder 3- Put the book in the cart 4- adjust the chair 5- Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move cart near to the window\n\u003c/PRED\u003e","video":"3283132161703160151.mp4"}
+{"uid":"14694523578100319591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper on 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":"12971407784482223692.mp4"}
+{"uid":"14184091123070976795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 3 chips 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":"13128696803894155838.mp4"}
+{"uid":"1891307482249491108","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup packet in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please Q: immediate next step? \u003cPRED\u003eA: place the paper cup packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab the extra cups and put them away in the drawer under the microwave please. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: place the paper cup packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6667909910689390895.mp4"}
+{"uid":"11763383825892318417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"5644423412079474076.mp4"}
+{"uid":"16034282821458684602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink chocolate 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":"7864470675689121337.mp4"}
+{"uid":"14801723262053788346","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e","video":"12235122885016698460.mp4"}
+{"uid":"5916033071799370842","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4143680510588601097.mp4"}
+{"uid":"16754942654748458392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee 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":"16785694836946605094.mp4"}
+{"uid":"9185416519529870007","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box Q: next 5 steps? \u003cPRED\u003eA: 1- close the cable box 2- adjust the wire 3- Adjust the chair 4- move cart near to the door 5- Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cable box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box Q: immediate next step? \u003cPRED\u003eA: close the cable box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cable box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1272452171143120649.mp4"}
+{"uid":"5207718636018384324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"483646670029016781.mp4"}
+{"uid":"13235402374798620493","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the wire inside the cable box 2- close the cable box 3- adjust the chair 4- adjust the chair 5- open the cable box 6- Put the wire inside the cable box 7- close the cable box 8- adjust the wire 9- Adjust the chair 10- move cart near to the door 11- Put the pen in the pen holder 12- Put the book in the cart 13- adjust the chair 14- move cart near to the window 15- Put the pen in the pen holder 16- Put the book in the cart 17- adjust the chair 18- Put the pen in the pen holder 19- Put the pen in the pen holder 20- Put the book in the cart Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the wire inside the cable box 2- close the cable box 3- adjust the chair 4- adjust the chair 5- open the cable box 6- Put the wire inside the cable box 7- close the cable box 8- adjust the wire 9- Adjust the chair 10- move cart near to the door 11- Put the pen in the pen holder 12- Put the book in the cart 13- adjust the chair 14- move cart near to the window 15- Put the pen in the pen holder 16- Put the book in the cart 17- adjust the chair 18- Put the pen in the pen holder 19- Put the pen in the pen holder 20- Put the book in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the cart 2- adjust the chair 3- adjust the chair 4- adjust the chair 5- open the cable box\n\u003c/PRED\u003e","video":"12820180044123473392.mp4"}
+{"uid":"6568535475562246506","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8223755866688503282.mp4"}
+{"uid":"9005044623904096451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic 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":"2838097893507281070.mp4"}
+{"uid":"14454928823072669786","text":"\u003ctask:success:discrete:True\u003e\nMove cart to the corner of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the pen in the pen holder 2- Put the book in the cart 3- adjust the chair 4- move cart near to the window 5- Put the pen in the pen holder 6- Put the book in the cart 7- adjust the chair 8- Put the pen in the pen holder 9- Put the pen in the pen holder 10- Put the book in the cart 11- Put the book in the cart 12- adjust the chair 13- adjust the chair 14- adjust the chair 15- open the cable box 16- Put the wire in the cable box 17- close the cable box 18- Put the wire inside the cable box 19- close the cable box 20- Move cart to the corner of the room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the pen in the pen holder 2- Put the book in the cart 3- adjust the chair 4- move cart near to the window 5- Put the pen in the pen holder 6- Put the book in the cart 7- adjust the chair 8- Put the pen in the pen holder 9- Put the pen in the pen holder 10- Put the book in the cart 11- Put the book in the cart 12- adjust the chair 13- adjust the chair 14- adjust the chair 15- open the cable box 16- Put the wire in the cable box 17- close the cable box 18- Put the wire inside the cable box 19- close the cable box 20- Move cart to the corner of the room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move cart to the corner of the room\n\u003c/PRED\u003e","video":"4639621151809480778.mp4"}
+{"uid":"8382979456298896780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nremove cable from cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10939288958228083269.mp4"}
+{"uid":"8741668788243872688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork 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":"10766441308247625714.mp4"}
+{"uid":"13119907347307863388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the oven door a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2298258980596262581.mp4"}
+{"uid":"4433890216914123129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11952762368926151302.mp4"}
+{"uid":"7823194579270010372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11904558477976063682.mp4"}
+{"uid":"8455099050260501777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee lid on 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":"9100590895089051918.mp4"}
+{"uid":"4374016174224178184","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move cart near to the window\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove cart near to the window Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18356429090337030867.mp4"}
+{"uid":"1648868452544262641","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the book in the cart 2- adjust the chair 3- open the cable box 4- Put the wire inside the cable box 5- close the cable box 6- adjust the chair 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the wire 12- Adjust the chair 13- move cart near to the door 14- Put the pen in the pen holder 15- Put the book in the cart 16- adjust the chair 17- move cart near to the window 18- Put the pen in the pen holder 19- Put the book in the cart 20- adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the pen in the pen holder 3- Put the book in the cart 4- Put the book in the cart 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- Put the book in the cart 2- adjust the chair 3- open the cable box 4- Put the wire inside the cable box 5- close the cable box 6- adjust the chair 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the wire 12- Adjust the chair 13- move cart near to the door 14- Put the pen in the pen holder 15- Put the book in the cart 16- adjust the chair 17- move cart near to the window 18- Put the pen in the pen holder 19- Put the book in the cart 20- adjust the chair Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"12356347927127175761.mp4"}
+{"uid":"4305743613082078108","text":"\u003ctask:success:discrete:True\u003e\nadjust the wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 wire\n\u003c/PRED\u003e","video":"14790602273406010364.mp4"}
+{"uid":"15880123362115630806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the Ethernet shield box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14031092437620728989.mp4"}
+{"uid":"5421307174222423730","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair 18- move cart near to the door 19- Put the pen in the pen holder 20- Put the book in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- move cart near to the window 3- Put the pen in the pen holder 4- Put the book in the cart 5- adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart 7- adjust the chair 8- open the cable box 9- Put the wire inside the cable box 10- close the cable box 11- adjust the chair 12- adjust the chair 13- open the cable box 14- Put the wire inside the cable box 15- close the cable box 16- adjust the wire 17- Adjust the chair 18- move cart near to the door 19- Put the pen in the pen holder 20- Put the book in the cart Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e","video":"15312404519559843382.mp4"}
+{"uid":"4523231646366890198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8507638286790591186.mp4"}
+{"uid":"11349119596893093177","text":"\u003ctask:success:discrete:False\u003e\nadjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs Q: immediate next step? \u003cPRED\u003eA: adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean up after the meeting by putting all the notepads and pens back into the cart. Tuck any loose charging cables into the table and push in all the chairs. last 20 steps: 1- move cart forward 2- move book to the right side of the table 3- Put the pen in the pen holder 4- Put the pen in the pen holder 5- Put the book in the cart 6- Put the book in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the chair 2- open the cable box 3- Put the wire inside the cable box 4- close the cable box 5- adjust the chair\n\u003c/PRED\u003e","video":"1096131970463581752.mp4"}
+{"uid":"17866670995903290814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14543597066550623517.mp4"}
+{"uid":"7166941365536456751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14131170020246454698.mp4"}
+{"uid":"10431590051320111286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12450944996944060805.mp4"}
+{"uid":"4533913828028212768","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick 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:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2185211939301319.mp4"}
+{"uid":"7093605462781100000","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green marker into the middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3461285706142937472.mp4"}
+{"uid":"11217642620541939491","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker into the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker Q: immediate next step? \u003cPRED\u003eA: put the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: put the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10186204515401900230.mp4"}
+{"uid":"17186288653132122395","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup Q: immediate next step? \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 sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow marker 2- done\n\u003c/PRED\u003e\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","video":"9734170788919103343.mp4"}
+{"uid":"4816894185619122721","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow marker into the left cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow marker into the left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow marker into the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e","video":"10509767851227129030.mp4"}
+{"uid":"17738570839412761576","text":"\u003ctask:success:discrete:False\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- drop the green marker into the middle cup 3- drop the orange marker into the right cup 4- drop the yellow marker into the left cup 5- drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"10693488607188831111.mp4"}
+{"uid":"3657294156566024840","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green marker into the middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green marker into the middle cup 2- drop the orange marker into the right cup 3- drop the yellow marker into the left cup 4- drop the orange marker into the right cup 5- drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e","video":"8205179614260881053.mp4"}
+{"uid":"536377715888834817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the top indoor plant from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15465476496977269531.mp4"}
+{"uid":"5333829757150795078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"9415818086563095292.mp4"}
+{"uid":"13959541573389343154","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange marker into the glass 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 orange marker into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17955711169715762198.mp4"}
+{"uid":"5766601646992866867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the orange object from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3667980203749221342.mp4"}
+{"uid":"3861018258684447616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10636891442189456731.mp4"}
+{"uid":"5421975912460177024","text":"\u003ctask:success:discrete:True\u003e\ndrop the green marker into the middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e","video":"5439777385823629718.mp4"}
+{"uid":"14516606199924979581","text":"\u003ctask:success:discrete:False\u003e\ndrop the green marker into the middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green marker into the middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green marker into the middle cup 2- drop the green marker into the middle cup 3- drop the orange marker into the right cup 4- drop the yellow marker into the left cup 5- drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e","video":"4923737477744545004.mp4"}
+{"uid":"14640304199267609301","text":"\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"9699049827159738311.mp4"}
+{"uid":"17158547827592890511","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- Put the marker in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- Put the marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11754232056250846325.mp4"}
+{"uid":"12741094509601147676","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow marker into the left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e","video":"18034780612635242588.mp4"}
+{"uid":"10726860060304574077","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3169246274769475720.mp4"}
+{"uid":"12427617838475505591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the pepsi can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8522015993082887353.mp4"}
+{"uid":"6657616233795430457","text":"\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"16740633662965551455.mp4"}
+{"uid":"6065350662040950068","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- drop the yellow marker into the left cup 3- drop the orange marker into the right cup 4- drop the green marker into the middle cup 5- drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"3014805606868047706.mp4"}
+{"uid":"10817977018999189977","text":"\u003ctask:success:discrete:False\u003e\nplace the orange marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup Q: immediate next step? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange marker into the glass 2- drop the green marker into the middle cup 3- drop the yellow marker into the left cup 4- pick the yellow marker 5- Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e","video":"16866778584599776794.mp4"}
+{"uid":"12121098305894062814","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 green marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker into the glass 2- drop the orange marker into the right cup 3- drop the yellow marker into the left cup 4- drop the orange marker into the right cup 5- drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: place the green marker into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: place the green marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker into the glass\n\u003c/PRED\u003e","video":"13713916226033575712.mp4"}
+{"uid":"1726175894186381777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7843766666392491217.mp4"}
+{"uid":"5594436421979584842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"2390268856689898373.mp4"}
+{"uid":"16964601685502952231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10795261621980986709.mp4"}
+{"uid":"12072663235108212263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17799776064378431905.mp4"}
+{"uid":"17254017531015551978","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow marker into the left cup 2- pick the yellow marker 3- Put the marker in the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow marker into the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow marker into the left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e","video":"3541461642959458721.mp4"}
+{"uid":"3454584589534876541","text":"\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 sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow marker 2- done\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:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup Q: immediate next step? \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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow marker\n\u003c/PRED\u003e","video":"5550836927335641886.mp4"}
+{"uid":"15750004420237488472","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange marker into the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange marker into 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:success:discrete:False\u003e\nput the orange marker into 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange marker into the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the right\n\u003c/PRED\u003e","video":"9750481246382793714.mp4"}
+{"uid":"14147411428996193432","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"14069361807109773949.mp4"}
+{"uid":"14448664844784833542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4259940244035808965.mp4"}
+{"uid":"11878351082983922118","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup Q: immediate next step? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange marker into the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange marker into the right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange marker into the right cup 2- drop the green marker into the middle cup 3- drop the yellow marker into the left cup 4- pick the yellow marker 5- Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e","video":"350186829839744374.mp4"}
+{"uid":"11732468857562031060","text":"\u003ctask:success:discrete:True\u003e\nput the orange marker into the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange marker into the right\n\u003c/PRED\u003e","video":"8212814600770202586.mp4"}
+{"uid":"15895333246334927663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the plastic cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15276109667866038514.mp4"}
+{"uid":"7557286539309995531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5816631454415868758.mp4"}
+{"uid":"2126495971981935191","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9413552230836821498.mp4"}
+{"uid":"13286105216302550765","text":"\u003ctask:success:discrete:False\u003e\ndrop the yellow marker into the left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow marker into the left cup 2- drop the orange marker into the right cup 3- drop the green marker into the middle cup 4- drop the yellow marker into the left cup 5- pick the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow marker into the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup Q: immediate next step? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e","video":"17613339405095419354.mp4"}
+{"uid":"15849643412169095998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17236697253976113780.mp4"}
+{"uid":"15407231421919690823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15686828680969281402.mp4"}
+{"uid":"8804061121736219675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- pick the yellow marker 3- Put the marker in the cup 4- done\n\u003c/PRED\u003e","video":"7275835277411659002.mp4"}
+{"uid":"8401947259321240041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10848990146429570355.mp4"}
+{"uid":"7370015214138041966","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup Q: immediate next step? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker into the glass 2- drop the orange marker into the right cup 3- drop the green marker into the middle cup 4- drop the yellow marker into the left cup 5- pick the yellow marker\n\u003c/PRED\u003e","video":"16711659025080627695.mp4"}
+{"uid":"12109955794511070066","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13470824586737496412.mp4"}
+{"uid":"8575542606577965704","text":"\u003ctask:success:discrete:True\u003e\nput the green marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e","video":"4025511461842918835.mp4"}
+{"uid":"9912671929888557515","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- drop the orange marker into the right cup 3- drop the green marker into the middle cup 4- drop the yellow marker into the left cup 5- pick the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"8019441057320278377.mp4"}
+{"uid":"14793774717541613233","text":"\u003ctask:success:discrete:True\u003e\nplace the green marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 green marker into the glass\n\u003c/PRED\u003e","video":"6566848012828987173.mp4"}
+{"uid":"2595669414297193029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4092215011849809348.mp4"}
+{"uid":"2965349309612178162","text":"\u003ctask:success:discrete:True\u003e\nplace the orange marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e","video":"2450426169813673226.mp4"}
+{"uid":"13123539483602382322","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":"1925327423065817019.mp4"}
+{"uid":"16406049770565990488","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15070065619678091573.mp4"}
+{"uid":"14668823065637250103","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker into the glass 2- pick the yellow marker 3- Put the marker in the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3431112782835842277.mp4"}
+{"uid":"12616147178332834817","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15654774075275749924.mp4"}
+{"uid":"2819085633869082121","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green marker into the middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green marker into the middle cup 2- drop the yellow marker into the left cup 3- pick the yellow marker 4- Put the marker in the cup 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green marker into the middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e","video":"2418039501581351717.mp4"}
+{"uid":"9899674253650537658","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4141378402968944827.mp4"}
+{"uid":"15095137400754714725","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- drop the yellow marker into the left cup 3- pick the yellow marker 4- Put the marker in the cup 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"16414142248101411378.mp4"}
+{"uid":"12635192784990229690","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":"7240104221141315543.mp4"}
+{"uid":"8850720739826106485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the coffee lid 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":"16595448211036748344.mp4"}
+{"uid":"15736000668153544373","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange marker into the right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e","video":"15206964284398819592.mp4"}
+{"uid":"11808941065111580265","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker 10- drop the yellow marker into the left cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker 10- drop the yellow marker into the left cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the yellow marker into the left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4628279848667571011.mp4"}
+{"uid":"9801557833594512686","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange marker into the right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7338117156528226513.mp4"}
+{"uid":"7991830185257651696","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- drop the orange marker into the right cup 3- drop the yellow marker into the left cup 4- drop the orange marker into the right cup 5- drop the green marker into the middle cup\n\u003c/PRED\u003e","video":"2144853054214384284.mp4"}
+{"uid":"7801339804096503291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate cereals into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12819582776012718723.mp4"}
+{"uid":"9380766015616032485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a knife 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":"16878343262937181972.mp4"}
+{"uid":"5181745500864737529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslide the glass toward green 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":"6579819866271472437.mp4"}
+{"uid":"13847591249490732616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"18425322832883048470.mp4"}
+{"uid":"4590953296643332888","text":"\u003ctask:success:discrete:True\u003e\nplace the orange marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange marker into the glass\n\u003c/PRED\u003e","video":"5971193997849958129.mp4"}
+{"uid":"499549513724432120","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15208271621023528268.mp4"}
+{"uid":"8196472008739248551","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":"2458695519428484302.mp4"}
+{"uid":"3103125158512166645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4073167507521575106.mp4"}
+{"uid":"3135894553134665411","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick up the yellow marker Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick up the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- done\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":"7139030084349743188.mp4"}
+{"uid":"6662272330130368974","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange marker into the right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange marker into the right cup 2- drop the yellow marker into the left cup 3- drop the orange marker into the right cup 4- drop the green marker into the middle cup 5- drop the yellow marker into the left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange marker into the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11245372835141182840.mp4"}
+{"uid":"1383971862492796262","text":"\u003ctask:success:discrete:True\u003e\nput the yellow marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker 10- put the yellow marker into the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow marker into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup 8- drop the yellow marker into the left cup 9- pick the yellow marker 10- put the yellow marker into the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10369210392059014484.mp4"}
+{"uid":"10247471616650482765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2111634709536974475.mp4"}
+{"uid":"3385471983875790256","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup Q: immediate next step? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker into the glass 2- drop the yellow marker into the left cup 3- pick the yellow marker 4- Put the marker in the cup 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11538209488002482179.mp4"}
+{"uid":"8139267192123349175","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup 5- drop the yellow marker into the left cup 6- drop the orange marker into the right cup 7- drop the green marker into the middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- pick the yellow marker 3- Put the marker in the cup 4- done\n\u003c/PRED\u003e","video":"744577453582187131.mp4"}
+{"uid":"9503894842030137901","text":"\u003ctask:success:discrete:True\u003e\nPut the marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"58125172284514875.mp4"}
+{"uid":"10430152912426802960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green marker into the middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green marker into the middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"918436276124224648.mp4"}
+{"uid":"5030114438338920039","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow marker into the left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow marker into the left cup\n\u003c/PRED\u003e","video":"11166298872637632870.mp4"}
+{"uid":"18060782053275561081","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right Q: immediate next step? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: put the green marker into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker into the glass 2- drop the green marker into the middle cup 3- drop the orange marker into the right cup 4- drop the yellow marker into the left cup 5- drop the orange marker into the right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11213638248395807490.mp4"}
+{"uid":"7009061297737259076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace brown tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7821231479780828777.mp4"}
+{"uid":"4221129810609896283","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color. last 20 steps: 1- put the orange marker into the right 2- drop the green marker into the middle cup 3- drop the green marker into the middle cup 4- drop the orange marker into the right cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the cup 2- drop the green marker into the middle cup 3- drop the yellow marker into the left cup 4- pick the yellow marker 5- Put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort highlighters into cups according to color Q: immediate next step? \u003cPRED\u003eA: Put the marker in the cup\n\u003c/PRED\u003e","video":"4660734323575746178.mp4"}
+{"uid":"6808134225231981541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14603585527025001502.mp4"}
+{"uid":"12612447677963900101","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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 up 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor Q: immediate next step? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up marker 2- draw box 3- draw line 4- draw letter u 5- write on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e","video":"13613331708988746348.mp4"}
+{"uid":"3674611213394319495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker 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":"11613302391933399947.mp4"}
+{"uid":"8279971872357414408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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","video":"6498501227046100904.mp4"}
+{"uid":"7128413579692521032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13234448339436781143.mp4"}
+{"uid":"16463721940581093162","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"7531605028597873457.mp4"}
+{"uid":"15911109244617683455","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board 2- write on the board 3- write on the board 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: write on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6774664368836751220.mp4"}
+{"uid":"13229603820042996595","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker 2- place marker on the floor 3- pick up marker 4- place marker on the floor 5- pick up the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the 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:success:discrete:False\u003e\npick up the 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","video":"2333003032013456231.mp4"}
+{"uid":"741850152401569095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6257233555904768825.mp4"}
+{"uid":"5902761910926329711","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"9215974893452794407.mp4"}
+{"uid":"13058023269939830001","text":"\u003ctask:success:discrete:True\u003e\npick up 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 marker\n\u003c/PRED\u003e","video":"11365588603401083901.mp4"}
+{"uid":"10334949120997763013","text":"\u003ctask:success:discrete:False\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: write on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw on the whiteboard. last 20 steps: 1- pick up marker Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board 2- place marker on the floor 3- pick up marker 4- place marker on the floor 5- pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e","video":"7208635404361719188.mp4"}
+{"uid":"16552611690645239009","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw something on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\ndraw something on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw something on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker Q: next 5 steps? \u003cPRED\u003eA: 1- draw something on the board 2- place marker on the floor 3- pick up marker 4- place marker on the floor 5- pick up the marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker Q: immediate next step? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e","video":"7903447726782628898.mp4"}
+{"uid":"9513827764050839159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7144158450540891090.mp4"}
+{"uid":"1355514462457052325","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board Q: immediate next step? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- place marker on the floor 2- pick up marker 3- place marker on the floor 4- pick up the marker 5- draw box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10294134788454415871.mp4"}
+{"uid":"15131423568453697920","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up marker 2- place marker on the floor 3- pick up the marker 4- draw box 5- draw line\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor Q: immediate next step? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:success:discrete:False\u003e\npick up 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: pick up marker\n\u003c/PRED\u003e","video":"18310392663062796980.mp4"}
+{"uid":"15263936068740733463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cereal scoop 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":"17138438749928123419.mp4"}
+{"uid":"18058382630274712235","text":"\u003ctask:success:discrete:True\u003e\ndraw something on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board 12- draw something on the board Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board 12- draw something on the board Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11158350656759718227.mp4"}
+{"uid":"8789019147970530268","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2034373718635934256.mp4"}
+{"uid":"10825916159792906892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3344298159059210536.mp4"}
+{"uid":"6978714003755862260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up a glass from the stack of 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":"10335185434608683101.mp4"}
+{"uid":"18302298105103204384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17659761820461222607.mp4"}
+{"uid":"4901396509916058363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8752293692032311673.mp4"}
+{"uid":"12210064082031911876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a teal and pink toy car 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":"4391486278448464301.mp4"}
+{"uid":"10981795730132909174","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace marker on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker Q: immediate next step? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker Q: next 5 steps? \u003cPRED\u003eA: 1- place marker on the floor 2- draw box 3- draw line 4- draw letter u 5- write on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place marker on the floor\n\u003c/PRED\u003e","video":"9058805503887231416.mp4"}
+{"uid":"13029472811247376242","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"6992450392544546516.mp4"}
+{"uid":"15397130885955572442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy in 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":"2283067933393727734.mp4"}
+{"uid":"18091290607237886034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into 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":"8111821285746126712.mp4"}
+{"uid":"11065721410651189603","text":"\u003ctask:success:discrete:True\u003e\ndraw line Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw line\n\u003c/PRED\u003e","video":"4826797211376968015.mp4"}
+{"uid":"11543220540213119830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12768136744967647267.mp4"}
+{"uid":"800765327606956441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the tissue 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":"8591006036054676046.mp4"}
+{"uid":"4697573071050989013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8793001119200577716.mp4"}
+{"uid":"11180033212443185013","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e","video":"14262307126799796329.mp4"}
+{"uid":"6408019726976484797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4661748261650184404.mp4"}
+{"uid":"18418182967264168084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"11408691200808097178.mp4"}
+{"uid":"3752165111726849002","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10688568119626153644.mp4"}
+{"uid":"17455775374896734442","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- done\n\u003c/PRED\u003e","video":"13608550702876236028.mp4"}
+{"uid":"6992294329711558278","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the 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:success:discrete:False\u003e\npick up the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker 2- draw box 3- draw line 4- draw letter u 5- write on the board\n\u003c/PRED\u003e","video":"9101054878840945246.mp4"}
+{"uid":"3286034478628014661","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10593853618692300913.mp4"}
+{"uid":"15575811687478858400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"720480683662400432.mp4"}
+{"uid":"14795568600247941383","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11838764383348997764.mp4"}
+{"uid":"5076625050917433641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper cup into 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":"436182632991445804.mp4"}
+{"uid":"10759498220068828193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen holder on right side of 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":"7784136181800980161.mp4"}
+{"uid":"7849948299896815986","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw letter u Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line Q: immediate next step? \u003cPRED\u003eA: draw letter u\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: draw letter u\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw letter u Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw letter u\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw letter u\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line Q: next 5 steps? \u003cPRED\u003eA: 1- draw letter u 2- write on the board 3- write on the board 4- write on the board 5- done\n\u003c/PRED\u003e","video":"15667747556985034665.mp4"}
+{"uid":"6234896034836571565","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":"4656677551276905826.mp4"}
+{"uid":"3999738354914951271","text":"\u003ctask:success:discrete:False\u003e\ndraw box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u Q: immediate next step? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u Q: next 5 steps? \u003cPRED\u003eA: 1- draw box 2- write on the board 3- write on the board 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14674528515891755646.mp4"}
+{"uid":"8587510079177942105","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndraw box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7471908357355081486.mp4"}
+{"uid":"5411706780175816231","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e","video":"1515960392394198147.mp4"}
+{"uid":"2604324649427753907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15556734978184591448.mp4"}
+{"uid":"17586398347230523602","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board Q: immediate next step? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw something on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\ndraw something on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- draw something on the board 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: draw something on the board\n\u003c/PRED\u003e","video":"16281924627717283306.mp4"}
+{"uid":"1663351922240335808","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board 12- write on the board Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board 11- write on the board 12- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e","video":"16143023433495212766.mp4"}
+{"uid":"15162999643875833367","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw line Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: draw line\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw line Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box Q: immediate next step? \u003cPRED\u003eA: draw line\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw line\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box Q: next 5 steps? \u003cPRED\u003eA: 1- draw line 2- draw letter u 3- write on the board 4- write on the board 5- write on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw line\n\u003c/PRED\u003e","video":"3505831704411313753.mp4"}
+{"uid":"2930501232100908046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3665780389569122778.mp4"}
+{"uid":"4447545361090815112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8782486060980085126.mp4"}
+{"uid":"12042310888888244126","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the 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","video":"17106629411447989966.mp4"}
+{"uid":"11399309427438181115","text":"\u003ctask:success:discrete:True\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: write on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board 2- write on the board 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker 7- draw box 8- draw line 9- draw letter u 10- write on the board Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e","video":"4909816724671442919.mp4"}
+{"uid":"2041776170020976574","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e","video":"17982072897743993915.mp4"}
+{"uid":"17062926682388593252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a blue cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2569060567939607125.mp4"}
+{"uid":"5039428656148131718","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker Q: immediate next step? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor 6- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- draw box 2- draw line 3- draw letter u 4- write on the board 5- write on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15581316332804140510.mp4"}
+{"uid":"2840997031220027980","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: draw on the whiteboard. Q: immediate next step? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up marker 2- write on the board 3- place marker on the floor 4- pick up marker 5- place marker on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: draw on the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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":"16522031391335740461.mp4"}
+{"uid":"5941325474204333112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"15014233151260410988.mp4"}
+{"uid":"12396083307077623330","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"10191122230404520484.mp4"}
+{"uid":"8825645789301503064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4410323886678110029.mp4"}
+{"uid":"2238446473161905166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"4302533828729475603.mp4"}
+{"uid":"10904936020013151354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the box in the middle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15174469981269192204.mp4"}
+{"uid":"3434206173602048102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fill water in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFill water in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13313540839318538512.mp4"}
+{"uid":"17156015739546359008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16756537368951350378.mp4"}
+{"uid":"15806099274750324221","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put glass in the wash basin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput glass in the wash basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9527510023774931035.mp4"}
+{"uid":"12928175365983583563","text":"\u003ctask:success:discrete:True\u003e\nPut the glass on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass on the counter\n\u003c/PRED\u003e","video":"11420900274525728459.mp4"}
+{"uid":"9861078391059248627","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table 4- put tissue on the table 5- put glass in the wash basin Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin Q: immediate next step? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table 4- put tissue on the table 5- put glass in the wash basin Q: immediate next step? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e","video":"5052918413679025703.mp4"}
+{"uid":"12251210704995650000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut packet in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6878045311488654566.mp4"}
+{"uid":"3210158037305337686","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pickup the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the tissue 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\nPickup the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room 4- Drop the tissue in the trash 5- Pull the tray to the edge of the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well Q: immediate next step? \u003cPRED\u003eA: Pickup the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the tissue on the table\n\u003c/PRED\u003e","video":"12481584789871763044.mp4"}
+{"uid":"4241443254759240449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4069603919338718491.mp4"}
+{"uid":"6517384010736916084","text":"\u003ctask:success:discrete:True\u003e\nput glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e","video":"14873004638621876120.mp4"}
+{"uid":"3662033482944380122","text":"\u003ctask:success:discrete:False\u003e\nPlace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well Q: immediate next step? \u003cPRED\u003eA: Place the black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room 4- Drop the tissue in the trash 5- Pull the tray to the edge of the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room 4- Drop the tissue in the trash 5- Pull the tray to the edge of the rack Q: immediate next step? \u003cPRED\u003eA: Place the black pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black pen on the table\n\u003c/PRED\u003e","video":"11676471645068356369.mp4"}
+{"uid":"18142066036253227514","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: put cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cap on cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- put cap on cup 2- Put the straw in the glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cap on cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cap on cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter Q: immediate next step? \u003cPRED\u003eA: put cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cap on cup\n\u003c/PRED\u003e","video":"2946950420717075352.mp4"}
+{"uid":"255234902013283402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knife 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":"500870799855847890.mp4"}
+{"uid":"9631831822421020505","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: ON the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: next 5 steps? \u003cPRED\u003eA: 1- ON the machine 2- Put the glass on the counter 3- Put the cap on the glass 4- Put the straw in the glass 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: immediate next step? \u003cPRED\u003eA: ON the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nON the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water Q: immediate next step? \u003cPRED\u003eA: ON the machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: ON the machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nON the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2605329511497121643.mp4"}
+{"uid":"6610223966575553782","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge right door Q: immediate next step? \u003cPRED\u003eA: pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge right door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the hint bottle 2- place the hint bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11052397612062703411.mp4"}
+{"uid":"13297666171487086179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the envelopes 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":"15215367961930522195.mp4"}
+{"uid":"15664476972218356191","text":"\u003ctask:success:discrete:True\u003e\nPut the glass on the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass on the machine\n\u003c/PRED\u003e","video":"5535566332172680374.mp4"}
+{"uid":"8304739451676690760","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the table 2- Put the cap on the glass 3- Put the straw in the glass 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass 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 get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e","video":"6479859745048938291.mp4"}
+{"uid":"5761199631292063393","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- put tissue on the table 3- put glass in the wash basin 4- put tissue in the dust bin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e","video":"4134796779795640941.mp4"}
+{"uid":"925012438588646740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2990728364235768371.mp4"}
+{"uid":"16731519578781271356","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill water in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill water in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: next 5 steps? \u003cPRED\u003eA: 1- Fill water in the glass 2- Put the glass on the counter 3- Put the cap on the glass 4- Put the straw in the glass 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: Fill water in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFill water in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: immediate next step? \u003cPRED\u003eA: Fill water in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFill water in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"422923566976252054.mp4"}
+{"uid":"14917201578732188088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13622772742706710753.mp4"}
+{"uid":"16216212251479353775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11207982707183132866.mp4"}
+{"uid":"783283990364670361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5532104863586178907.mp4"}
+{"uid":"13975111306937208316","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass 5- Put the straw in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass 5- Put the straw in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the straw in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the straw in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9185661764681684765.mp4"}
+{"uid":"374176498563754695","text":"\u003ctask:success:discrete:False\u003e\nDrop the tissue in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the tissue in the trash 2- Pull the tray to the edge of the rack 3- Place the black pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the tissue in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well Q: immediate next step? \u003cPRED\u003eA: Drop the tissue in the trash\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the tissue in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the tissue in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room Q: immediate next step? \u003cPRED\u003eA: Drop the tissue in the trash\n\u003c/PRED\u003e","video":"1038652653135001584.mp4"}
+{"uid":"2486491921604450322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11511193196605913976.mp4"}
+{"uid":"5750126338657627812","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: Put the cap on the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cap on the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cap on the glass 2- Put the straw in the glass 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter Q: immediate next step? \u003cPRED\u003eA: Put the cap on the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cap on the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cap on the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cap on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1993378115662172901.mp4"}
+{"uid":"9594325734065759855","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well Q: immediate next step? \u003cPRED\u003eA: Switch off the light\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table Q: immediate next step? \u003cPRED\u003eA: Switch off the light\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Switch off the light\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSwitch off the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nSwitch off the light Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Switch off the light\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Switch off the light 2- Exit the room 3- Drop the tissue in the trash 4- Pull the tray to the edge of the rack 5- Place the black pen on the table\n\u003c/PRED\u003e","video":"1429186696034120060.mp4"}
+{"uid":"11152577906115581230","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge right door 2- pick up the hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the hint bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge right door 2- pick up the hint bottle Q: immediate next step? \u003cPRED\u003eA: place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the hint bottle on the table\n\u003c/PRED\u003e","video":"1494324656390824331.mp4"}
+{"uid":"8498139967073676229","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":"5381655242233443401.mp4"}
+{"uid":"17955394966536390074","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put straw in cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput straw in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: put straw in cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put straw in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put straw in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass Q: immediate next step? \u003cPRED\u003eA: put straw in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput straw in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8059374784289281692.mp4"}
+{"uid":"12941034709638166957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown paper into the trash  bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"722659736383471214.mp4"}
+{"uid":"5699038014809511329","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in the glass 2- pick up glass 3- put glass on the table 4- put tissue on the table 5- put glass in the wash basin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin Q: immediate next step? \u003cPRED\u003eA: put tissue in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put tissue in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1163597556813644751.mp4"}
+{"uid":"1438684382658815120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie 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":"13946470876767108623.mp4"}
+{"uid":"10794866201938775027","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: Put the straw in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the straw in the glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass Q: immediate next step? \u003cPRED\u003eA: Put the straw in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the straw in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the straw in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the straw in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the straw in the glass\n\u003c/PRED\u003e","video":"13846226066159704426.mp4"}
+{"uid":"8983271050035204879","text":"\u003ctask:success:discrete:True\u003e\nput straw in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass 5- put straw in cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put straw in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass 5- put straw in cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10837548104308821344.mp4"}
+{"uid":"8487564995672081920","text":"\u003ctask:success:discrete:False\u003e\nPut the glass on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water Q: immediate next step? \u003cPRED\u003eA: Put the glass on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on the counter 2- Put the cap on the glass 3- Put the straw in the glass 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass Q: immediate next step? \u003cPRED\u003eA: Put the glass on the counter\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fill water in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfill water in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2985640814831514754.mp4"}
+{"uid":"14578424695487603252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn the second most 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":"17751257306799521894.mp4"}
+{"uid":"2714172065733825017","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on the machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass 5- Put the straw in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the glass on the machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water Q: immediate next step? \u003cPRED\u003eA: Put the glass on the machine\n\u003c/PRED\u003e","video":"12349859861459449048.mp4"}
+{"uid":"9362170755375626983","text":"\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- Put the straw in the glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e","video":"11991940022150097827.mp4"}
+{"uid":"127819367895046181","text":"\u003ctask:success:discrete:False\u003e\npick up glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up glass 2- put glass on the table 3- put tissue on the table 4- put glass in the wash basin 5- put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass Q: immediate next step? \u003cPRED\u003eA: pick up glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin Q: immediate next step? \u003cPRED\u003eA: pick up glass\n\u003c/PRED\u003e","video":"3585679666626096370.mp4"}
+{"uid":"15623280092069230360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pebble in the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1987504377610226582.mp4"}
+{"uid":"4870257591926282539","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drop the tissue in the trash 3- Pull the tray to the edge of the rack 4- Place the black pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12128799949589510479.mp4"}
+{"uid":"5694508627392573748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10006429309329781135.mp4"}
+{"uid":"13776263318313361247","text":"\u003ctask:success:discrete:True\u003e\nput tissue in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table 4- put tissue on the table 5- put glass in the wash basin 6- put tissue in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table 4- put tissue on the table 5- put glass in the wash basin 6- put tissue in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8933595614736053429.mp4"}
+{"uid":"11006019988252937535","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":"10402873801938273836.mp4"}
+{"uid":"11804997340365663217","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":"17447467919584289553.mp4"}
+{"uid":"625642670972364073","text":"\u003ctask:success:discrete:True\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e","video":"7212146311701229862.mp4"}
+{"uid":"7062520480636456969","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass upright on the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass upright on the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4593035655185257693.mp4"}
+{"uid":"343356708401790040","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the glass upright on the machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: place the glass upright on the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass upright on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass 5- Put the straw in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass upright on the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass upright on the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 glass upright on the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass upright on the machine\n\u003c/PRED\u003e","video":"2801503128569708980.mp4"}
+{"uid":"993429444464201181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: off the  machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\noff the  machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: immediate next step? \u003cPRED\u003eA: off the  machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\noff the  machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: off the  machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: next 5 steps? \u003cPRED\u003eA: 1- off the  machine 2- Put the glass on the counter 3- Put the cap on the glass 4- Put the straw in the glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: off the  machine\n\u003c/PRED\u003e","video":"10926435800925767914.mp4"}
+{"uid":"16907470356141189576","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2239483244360489811.mp4"}
+{"uid":"5319017618877409588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the green 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":"14000415524221633207.mp4"}
+{"uid":"6622630776126106244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16762080673748446229.mp4"}
+{"uid":"17030623668624920485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"16179314163346789971.mp4"}
+{"uid":"11601562309061482769","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room 4- Drop the tissue in the trash Q: immediate next step? \u003cPRED\u003eA: Pull the tray to the edge of the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room 4- Drop the tissue in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the tray to the edge of the rack 2- Place the black pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the tray to the edge of the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the tray to the edge of the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the tray to the edge of the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well Q: immediate next step? \u003cPRED\u003eA: Pull the tray to the edge of the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull the tray to the edge of the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"176360029088168675.mp4"}
+{"uid":"9258018321181623353","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: fill water in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: next 5 steps? \u003cPRED\u003eA: 1- fill water in cup 2- Put the glass on the counter 3- Put the cap on the glass 4- Put the straw in the glass 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine Q: immediate next step? \u003cPRED\u003eA: fill water in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfill water in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfill water in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fill water in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fill water in cup\n\u003c/PRED\u003e","video":"1476198922972719448.mp4"}
+{"uid":"87542901598497501","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room 4- Drop the tissue in the trash 5- Pull the tray to the edge of the rack 6- Place the black pen on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab the used wipe from the meeting room and throw it away. can you turn the light off on your way out as well. last 20 steps: 1- Pickup the tissue on the table 2- Switch off the light 3- Exit the room 4- Drop the tissue in the trash 5- Pull the tray to the edge of the rack 6- Place the black pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the black pen on the table\n\u003c/PRED\u003e","video":"14475536000585523189.mp4"}
+{"uid":"7245201843756626078","text":"\u003ctask:success:discrete:False\u003e\nplace the Straw  on the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get me a cup of water Q: immediate next step? \u003cPRED\u003eA: place the Straw  on the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the Straw  on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the Straw  on the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the Straw  on the glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the Straw  on the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass Q: immediate next step? \u003cPRED\u003eA: place the Straw  on the glass\n\u003c/PRED\u003e","video":"6376316449428528457.mp4"}
+{"uid":"1396801525484469451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace black object in the dust 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":"6448160413259674521.mp4"}
+{"uid":"10095185843949016203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"6760426740265607373.mp4"}
+{"uid":"11814898008737623378","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge right door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open the fridge right door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge right door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge right door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge right door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge right door 2- pick up the hint bottle 3- place the hint bottle on the table 4- done\n\u003c/PRED\u003e","video":"199657584149372496.mp4"}
+{"uid":"11879572188336658802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5160640121386046522.mp4"}
+{"uid":"6129418337209305278","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge right door 2- pick up the hint bottle 3- place the hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge right door 2- pick up the hint bottle 3- place the hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17774973529662060281.mp4"}
+{"uid":"13428354666659709658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12429667151560570028.mp4"}
+{"uid":"27461380626775355","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"235164294525936291.mp4"}
+{"uid":"7479824230741293124","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: 1- Put the glass on the machine 2- Fill water in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- Put the straw in the glass 3- done\n\u003c/PRED\u003e","video":"1842515451332892791.mp4"}
+{"uid":"5676156476791558191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the phone to the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7875536406708221634.mp4"}
+{"uid":"6909676483475787804","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":"769947246390020801.mp4"}
+{"uid":"5029873933015485590","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass in the wash basin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin Q: immediate next step? \u003cPRED\u003eA: put glass in the wash basin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table 4- put tissue on the table Q: immediate next step? \u003cPRED\u003eA: put glass in the wash basin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass in the wash basin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass in the wash basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass in the wash basin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table 4- put tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put glass in the wash basin 2- put tissue in the dust bin 3- done\n\u003c/PRED\u003e","video":"4489713451738965156.mp4"}
+{"uid":"8516339439635969444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3094051008643650834.mp4"}
+{"uid":"15784928875149043535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets 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":"10083140693600722337.mp4"}
+{"uid":"8133450902048271444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cap on the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cap on the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7054280713985826386.mp4"}
+{"uid":"4920354238347878534","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put glass into the sink and throw away the napkin. last 20 steps: 1- put tissue in the glass 2- pick up glass 3- put glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the table 2- put glass in the wash basin 3- put tissue in the dust bin 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e","video":"11724896780416176599.mp4"}
+{"uid":"3322953982916205671","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cap on cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cap on cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12758695617221084633.mp4"}
+{"uid":"14365350240750952934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndraw with marker on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6737556408106009552.mp4"}
+{"uid":"15439389892432708819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1939292332396195603.mp4"}
+{"uid":"9249017744002846067","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me a cup of water Q: immediate next step? \u003cPRED\u003eA: put cup on water purifier machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on water purifier machine 2- Fill water in the glass 3- Put the glass on the counter 4- Put the cap on the glass 5- Put the straw in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on water purifier machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on water purifier machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me a cup of water. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup on water purifier machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on water purifier machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on water purifier machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5585262792761457821.mp4"}
+{"uid":"4022895396489397735","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on water purifier machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on water purifier machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5557100060943064347.mp4"}